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精确的节点定位是物联网位置服务应用的关键。获得了节点的准确位置信息,与位置服务应用的有关数据才有价值。因此,研究精确定位对物联网的位置服务应用至关重要[1-2]。根据测量距离建立的定位方程组多数情况下是非线性方程组,对该方程组的求解方法整体上可分为两大类:一类是非线性处理方法,将定位问题看作优化问题进行求解,如遗传算法[3]等;另一类是线性处理方法,通常利用Taylor级数展开法或其他方法[4]将非线性定位方程组变换成线性方程组后求解。与非线性处理方法相比,基于Taylor级数展开的线性方法具有求解精度高、收敛速度快等优点,成为近年来的一个热点研究。文献[5]提出了基于Taylor级数展开和到达时间的定位算法;文献[6]采用Taylor级数展开和最速下降法实现混合定位;文献[7]利用Taylor级数展开法将二次方程组线性化,实现了基于接收信号强度指示的定位等。这些工作通过不同算法与Taylor级数展开法[8-10]相结合的方式,对精确定位进行了一些有益的探索,但是并没有对传统Taylor级数展开的定位模型进行改进。该模型只考虑未知节点和锚节点的距离,没有考虑未知节点之间的距离,定位信息不够全面,从而导致定位精度不高。因此本文考虑未知节点之间的距离,建立一种新的多元变量Taylor级数展开的定位模型。在此模型的基础上,提出了一种新的定位算法。该算法充分发挥粒子群算法的群体搜索性和多元变量Taylor级数展开法的局部细致搜索性,克服了粒子群算法后期搜索效率低下和多元变量Taylor级数展开法对初始值敏感的缺陷。由于增加了未知节点之间的距离信息,该方法能有效地提高定位精度。为了评价该算法的性能,对定位结果的Cramer-Rao下界进行了推导,并通过仿真验证算法的有效性。
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