全景图像拼接的网络化感知节点自主定位系统

分析网络化感知系统节点定位问题的特殊性，针对深空探测环境未知的问题，提出利用全景图像重合度来修正信号衰减模型，提高测距精度；提出一种修正的高精度节点自主定位算法来解决多移动节点协同定位问题，该算法是把切圆法引入到基于全景图片重合度的RSSI修正定位方法中。当多个感知节点定位时，根据视距近似原则选择定位锚节点来进行H-CM算法，仿真结果表明该定位方案可以有效提高感知节点的定位精度。

Algorithm of networked perception node location based on panorama picture spelling

This article analyzes the difference of location question in networked perception system, panorama pictures spelling is used to correct signal attenuation model in RSSI location system, which resolves the matter that the environment is unknown in deep-space explore. An advanced high precision node self-locating algorithm(H-CM)is proposed to resolve multi-mobile-nodes location problem, which introduces inscribed circle into advanced RSSI location based on panorama pictures spelling, the select principle of perception nodes has better location precision, and the simulation result shows that the advanced H-CM enhances the location precision without increasing any hardware spending.