无线传感器网络节点定位算法研究
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摘要
无线传感器网络(Wireless Sensor Network, WSN)就是由部署在监测区域内大量廉价微型传感器节点组成,通过无线通信方式形成一个多跳的自组织的网络。在无线传感器网络中,节点定位技术是许多应用的支撑技术,具有重要的地位,没有位置信息的监测消息往往毫无意义。因此,确定事件发生的位置或确定获取消息的节点位置是传感器网络最基本的功能之一,对传感器网络应用的有效性起着关键的作用。
首先介绍了无线传感器网络的基本原理,节点定位的基本概念、关键技术以及节点定位算法的分类和性能评价标准,归纳了定位算法所面临的挑战,分析了几种典型的WSN分布式节点定位技术,并对它们进行了比较。
其次提出了一种在三个锚节点的条件下基于到达角的定位方法,利用节点之间的几何关系实现传感器网络中未知节点的定位。通过仿真验证本文的方法能够对未知节点进行有效的定位。同时,本文提出的方法仅是依赖到达角信息来确定节点的位置,从而降低了处理的复杂度,节省节点的能量,提高了节点的寿命。
最后提出了一种基于移动锚节点的节点定位方法,在此方法中利用到达时间测量锚节点与未知节点之间的距离,再利用锚节点与未知节点间的几何关系实现未知节点的定位。本文提出的方法仅是依赖于移动锚节点的两个不同位置来确定未知节点的位置信息,减少了无线传感器网络自身定位的通信和计算开销,从而降低了处理的复杂度。
A Wireless Sensor Network (WSN) refers to a group of inexpensive sensors linked by wireless medium, works as a self-organized and multi-hop network. In wireless sensor networks, sensor location plays a critical role in many applications, Without nodes' position, the gathered information is of little worth. So, to locate where the event happen or get the position of the node which received messages is one of the most fundamental functions of WSN.
The main work of this thesis is to research and design node localization. First the basic theories of WSN are introduced; the concept of localization is explained; the localization algorithms in existence are classified based on their characteristics; and the performance evaluation standards are noted; the facing challenges in WSN are sorted. Several classic localization algorithms are analyzed and compared by their complexity, performance, precision and application situation.
Secondly this paper proposes a algorithm for unknown nodes under three anchor node's condition in wireless sensor networks based on AOA (angle of arrival) method and the geometrical relations among sensor nodes. The simulation proves the effective localization of the unknown node. Meanwhile, this method is only reply on the information of AOA to determine the location of nodes, the proposed method, thereby, reduces processing complexity while saving the energy of nodes which extends life expectancy of nodes.
Finally this paper proposes an algorithm based on the mobile anchor nodes. In this method we make use of the TOA (time of arrival) and the geometrical relations among unknown nodes and anchor nodes to obtaining the unknown nodes coordinate. This method is only reply on the two positions of the mobile anchor nodes to determine the location of the unknown nodes, the proposed method, thereby, reduces the spending of communication and computing in wireless sensor networks, while reducing processing complexity.
首先介绍了无线传感器网络的基本原理,节点定位的基本概念、关键技术以及节点定位算法的分类和性能评价标准,归纳了定位算法所面临的挑战,分析了几种典型的WSN分布式节点定位技术,并对它们进行了比较。
其次提出了一种在三个锚节点的条件下基于到达角的定位方法,利用节点之间的几何关系实现传感器网络中未知节点的定位。通过仿真验证本文的方法能够对未知节点进行有效的定位。同时,本文提出的方法仅是依赖到达角信息来确定节点的位置,从而降低了处理的复杂度,节省节点的能量,提高了节点的寿命。
最后提出了一种基于移动锚节点的节点定位方法,在此方法中利用到达时间测量锚节点与未知节点之间的距离,再利用锚节点与未知节点间的几何关系实现未知节点的定位。本文提出的方法仅是依赖于移动锚节点的两个不同位置来确定未知节点的位置信息,减少了无线传感器网络自身定位的通信和计算开销,从而降低了处理的复杂度。
A Wireless Sensor Network (WSN) refers to a group of inexpensive sensors linked by wireless medium, works as a self-organized and multi-hop network. In wireless sensor networks, sensor location plays a critical role in many applications, Without nodes' position, the gathered information is of little worth. So, to locate where the event happen or get the position of the node which received messages is one of the most fundamental functions of WSN.
The main work of this thesis is to research and design node localization. First the basic theories of WSN are introduced; the concept of localization is explained; the localization algorithms in existence are classified based on their characteristics; and the performance evaluation standards are noted; the facing challenges in WSN are sorted. Several classic localization algorithms are analyzed and compared by their complexity, performance, precision and application situation.
Secondly this paper proposes a algorithm for unknown nodes under three anchor node's condition in wireless sensor networks based on AOA (angle of arrival) method and the geometrical relations among sensor nodes. The simulation proves the effective localization of the unknown node. Meanwhile, this method is only reply on the information of AOA to determine the location of nodes, the proposed method, thereby, reduces processing complexity while saving the energy of nodes which extends life expectancy of nodes.
Finally this paper proposes an algorithm based on the mobile anchor nodes. In this method we make use of the TOA (time of arrival) and the geometrical relations among unknown nodes and anchor nodes to obtaining the unknown nodes coordinate. This method is only reply on the two positions of the mobile anchor nodes to determine the location of the unknown nodes, the proposed method, thereby, reduces the spending of communication and computing in wireless sensor networks, while reducing processing complexity.
引文
1任丰原,黄海宁,林闯.无线传感器网络.软件学报,2003,14(2):1148- 1157
2马祖长,孙怡宁,梅涛.无线传感器网络综述.通信学报,2004,25(4):114-124
3王殊,阎毓杰,胡富平,屈晓旭.无线传感器网络的理论与应用.北京:航空航天大学出版社,2007:142–164
4 A. Sinha, A. Chandrakasan. Energy aware software. Proceeding VLSI Design 2000. Calcutta,India,2000,1:253-264
5王福豹,史龙,任丰原.无线传感器网络中的自身定位系统和算法.软件学报, 2005,16(5):857-868
6 M. Hewish. Little Brother is Watching you: Unattended Ground Sensor. Defense Review,2001,34(6):46-52
7 T. Arici, Y. Altunbasak. Adaptive Sensor for Environment Monitoring Using Wireless Sensor Networks. In proceeding of the IEEE Wireless Sensor Networks Communications and Conference,2004,5(1):2350-2355
8 N. Noury, T. Herve, V. Rialle. Monitoring Behavior in Home Using a Smart Fall Sensor. In proceeding of the IEEE-EMBS Special Topic Conference on Micotechnologies in Medicine and Biology,2000:607-610
9 Koen Langendoen, Niels Reijers. Distributed Localization in Wireless Sensor Networks: A Quantitative Comparison. Computer Networks,2003(43):499-518
10 A. Harter, A. Hopper. A Distributed Location System for the Active Office. IEEE Network,1994,8(1):62-70
11 S. Capkun, M. Hamdi, J. P. Hubaux. GPS-free Positioning in Mobile Ad-hoc Networks. Cluster Computing,2002,5(2):157-167
12 Chris Savarese, M. Jan, Rabaey. Locationing in Distributed Ad-Hoc Wireless Sensor Network. Proceedings of IEEE International Conference on Acoustics, Speech, and signal, IEEE Computer society,2001,5(4):2037-2040
13 D. Nicolescu, B. Nath. DV Based Positioning in Ad-Hoc Networks. Journal of Telecommunication Systems,2003,22(1/4):267-280
14 D. Nicolescu, B. Nath. Ad-Hoc Positioning (APS). Proceedings of IEEE Globe, Texas, USA,2001,11:2826-2931
15 N. Bulusu, J. Heidemann, D. Estrin. Density Adaptive Algorithms for Beacon Placement in Wireless Sensor Networks. Technical Report,2001:134-153
16 N. Bulusu, J. Heidemann, D. Estrin. GPS-less Low Cost Outdoor Localization for Very Small Devices. IEEE Personal Communications Magazine,2000,7(5):28-34
17 A. Savvides, C. C. Han, M. Srivastava. Dynamic Fine-grained Localization in Ad-hoc Networks of Sensors. In Proceeding of the 7th Annual Int’l Conf. on Mobile Computing and Networking,2001:166-179
18 J. Rabacy, E. H. Callaway. Wireless Sensor Networks: Architectures and Protocols. Boca Raton, CRC Press,2004:1-40
19 Wu Jian,Yuan Shenfang. A wireless sensor network node designed for exploring a structural health monitoring application. Smart Materials and Structures, 2007,10(1):1898-1906
20 F. AkyildizL, Su WL, E. Cayirci. A Survey on Sensor Networks. IEEE Communications Magazine,2002,40(8):102-114
21 F. Ian Akyildiz, H. Ismail Kasimoglu. Wireless Sensor and Actor Networks: Research Challenges. Ad-Hoc Networks,2004,2:351-367
22 A. Chandrakasan, R. Amirtharajah, S. Cho. Design Considerations for Distributed Microsensor Systems. Proceedings of the IEEE 1999 Custom Integrated Circuits Conference,1999:279-286
23孙雨耕,张静,孙永进.无线自组织传感器网络.传感技术学报,2004,2:331-348
24李晓维,徐勇军,任丰原.无线传感器网络技术.北京:理工大学出版社,2007:191–219
25 T. He, C. Huang, B. Blum. Range-Free Localization Schemes in Large Scale Sensor Networks. In Proceeding of the 9th Annual Int’l Conf. on Mobile Computing and Networking,2003:81-95
26 R. Nagpal, H. Shrobe, J. Bachrach. Organizing a Global Coordinate System from LocalInformation on an Ad-Hoc Sensor Network. In the 2nd International Workshop on Information Processing in Sensor Networks,2003,4:1109-1120
27 N. B. Priyantha, H. Balakrishnam, E. Demaine. Anchor-free Distributed Localization in Sensor Networks. Technical Report MITL CS-TR-892, MIT Lab for Computer Science, 2003,3:1190-1198
28 Roy Want, Andy Hopper, Veronica Falcao. The Active Badge Location System. ACM Transactions on Information Systems,1992,1(10):91-102
29 J. Hightower, G. Boriello. Location Systems for Ubiquitous Computing. Computer, 2001,34(8):57-66
30 X. Hong, M. Gerla, H. Wang. Energy-Aware Communications for Mars Sensor Networks. Proceedings of IEEE Aerospace,2002,3:113-116
31 S. J. Lee, M. Gerla. Split Routing with Maximally Disjoint Paths in Ad-hoc Networks. Proceedings of IEEE ICC,2001,6:3201-3205
32 S. Dulman, T. Nieberg, Wu Jian. Trade-off Between Traffic Overhead and Reliability in Multipath Routing for Wireless Sensor Networks. Proceedings WCNC, IEEE 2003,3:1918-1922
33 A. Harter, A. Hopper, P. Steggles. The Anatomy of a Context-Aware Application. Wireless Network,2002,3(8):187-197
34 L. Girod, D. Estrin. Robust Range Estimation Using Acoustic and Multimodal Sensing. IEEE International Conference on Intelligent Robots and Systems. Hawaii (USA),2001,3:1312-1320
35 D. Niculescu, B. Nath. Ad-Hoc Positioning System (APS) Using AOA. Proceedings of the IEEE INFOCOM,2003,3:1734-1743
36 Girod L, Bychovskiy V, Elson J. Locating Tiny Sensors in Time and Space: A Case Study. Proceedings of International Conference on Computer Design,2002:214-219
37 X. Shen, Z. Wang, Y. sun. Connectivity and RSSI Based Localization Schemes for Wireless Sensor Networks. International Conference on Intelligent Computing, Lecture Note on Computing Science,2005,8:578-587
38 K. Chakrabarty, S. S. Iyengar, H. Qi. Grid Coverage for Surveillance and TargetLocation in Distributed Sensor Networks. IEEE Transactions on Computers,2002, 51(12):1448-1453
39 F. Lin, P. L. Chlu. A Near-optimal Sensor Placement Algorithm to Achieve Complete Coverage / Discrimination in Sensor Networks. IEEE Communications Letters, 2005,9(1):43-45
40姚向华,韩九强.传感器网络中的传感器配置问题研究.信息与控制,2006,35(2):252-274
41 S. Dhillon, K. Chakrabarty. Sensor Placement for Effective Coverage and Surveillance in Distributed Sensor Networks. IEEE Wireless Communications and Networking Record,2003:1609-1614
42屈玉贵,翟羽佳,蔺智挺,等.一种新的无线传感器网络放置模型.北京邮电大学学报,2004,27(6):1-5
43蔺智挺,屈玉贵,翟羽佳,等.一种高效覆盖地节点放置算法.中国科学技术大学学报,2005,35(3):411-416
44 S. Adlakha, M. Srivastava. Critical Density Thresholds for Coverage in Wireless Sensor Networks. In Proceeding of IEEE Wireless Communications and Networking Conference,2003:1615-1620
45 S. Meguerdichian, F. Koushanfar, G. Qu. Exposure in Wireless Ad-Hoc Sensor Networks. In Proceedings of the ACM International Conference on Mobile Computing and Networking,2001:139-150
46 O. Khatib. Real-time Obstacle Avoidsnce for Manipulators and Mobile Robots. International Journal of Robotics Research,1986,5(1):90-98
47 A. Howard, M. Matari, G. S. Sukhatme. Mobile Sensor Network Deployment using Potential Fields: A Distributed, Scalable Solution to the Area Coverage Problem. In Proceeding of Conference on Distributed Autonomous Robotic Systems,2002:299-308
48 Y. Zou, K. Chakrabarty. Sensor Deployment and Target Localization based on Virtual Forces. In Proceeding of IEEE INFOCOM,2003:1293-1303
49 N. Heo, P. K. Varshey. An Intelligent Deployment and Clustering Algorithm for a Distributed Mobile Sensor Networks. In Proceeding of IEEE International Conferenceon system, Man and Cybernetics,2003:4576-4581
50李石坚,徐从福,吴朝晖,等.面向目标的传感器网络布局优及保护策略.电子学报,2006,34(1):71-76
51谢洁锐,胡月明,刘才兴.大田检测中无线传感器网络的部署.现代计算机,2002,20(3):36-38
52于宁,万江文,吴银锋.无线传感器网络定位算法研究.传感技术学报,2007,20(1):187-192
53戴桂兰,赵冲冲,邱岩.一种基于球面坐标的无线传感器网络三维定位机制.电子学报,2008,36(7):1297-1303
54 R. Stoleru, T. He, A. Stankovic. Walking GPS: A Practical Solution for Localization in Manually Deployed Wireless Sensor Networks. IEEE Workshop on Embedded Networked Sensors EmNetS-I.,2004:1146-1158
55 M.Sichitiu, V. Ramadura. Localization of Wireless Sensor Networks with a Mobile Beacon. In MASS,2004:1098-1105
56 N. B. Priyantha, H. Balakrishnan, E. Demaine. Mobile-assisted Localization in Wireless Sensor Networks. In INFOCOM,2005:970-985
57 SUN Guolin, GUO Wei. Comparison of Distributed Localization Algorithms for Sensor Network With a Mobile Beacon. Proceeding the 2004 IEEE International Conference on Networking, Sensing and Control,2004:536-540
58 A. Galstyan, B. Krishnamachari, S. P. K. Lerman. Distributed Online Localization in Sensor Networks Using a Moving Target. Proceeding the International Symp on Information Processing Sensor Networks,2004:61-70
2马祖长,孙怡宁,梅涛.无线传感器网络综述.通信学报,2004,25(4):114-124
3王殊,阎毓杰,胡富平,屈晓旭.无线传感器网络的理论与应用.北京:航空航天大学出版社,2007:142–164
4 A. Sinha, A. Chandrakasan. Energy aware software. Proceeding VLSI Design 2000. Calcutta,India,2000,1:253-264
5王福豹,史龙,任丰原.无线传感器网络中的自身定位系统和算法.软件学报, 2005,16(5):857-868
6 M. Hewish. Little Brother is Watching you: Unattended Ground Sensor. Defense Review,2001,34(6):46-52
7 T. Arici, Y. Altunbasak. Adaptive Sensor for Environment Monitoring Using Wireless Sensor Networks. In proceeding of the IEEE Wireless Sensor Networks Communications and Conference,2004,5(1):2350-2355
8 N. Noury, T. Herve, V. Rialle. Monitoring Behavior in Home Using a Smart Fall Sensor. In proceeding of the IEEE-EMBS Special Topic Conference on Micotechnologies in Medicine and Biology,2000:607-610
9 Koen Langendoen, Niels Reijers. Distributed Localization in Wireless Sensor Networks: A Quantitative Comparison. Computer Networks,2003(43):499-518
10 A. Harter, A. Hopper. A Distributed Location System for the Active Office. IEEE Network,1994,8(1):62-70
11 S. Capkun, M. Hamdi, J. P. Hubaux. GPS-free Positioning in Mobile Ad-hoc Networks. Cluster Computing,2002,5(2):157-167
12 Chris Savarese, M. Jan, Rabaey. Locationing in Distributed Ad-Hoc Wireless Sensor Network. Proceedings of IEEE International Conference on Acoustics, Speech, and signal, IEEE Computer society,2001,5(4):2037-2040
13 D. Nicolescu, B. Nath. DV Based Positioning in Ad-Hoc Networks. Journal of Telecommunication Systems,2003,22(1/4):267-280
14 D. Nicolescu, B. Nath. Ad-Hoc Positioning (APS). Proceedings of IEEE Globe, Texas, USA,2001,11:2826-2931
15 N. Bulusu, J. Heidemann, D. Estrin. Density Adaptive Algorithms for Beacon Placement in Wireless Sensor Networks. Technical Report,2001:134-153
16 N. Bulusu, J. Heidemann, D. Estrin. GPS-less Low Cost Outdoor Localization for Very Small Devices. IEEE Personal Communications Magazine,2000,7(5):28-34
17 A. Savvides, C. C. Han, M. Srivastava. Dynamic Fine-grained Localization in Ad-hoc Networks of Sensors. In Proceeding of the 7th Annual Int’l Conf. on Mobile Computing and Networking,2001:166-179
18 J. Rabacy, E. H. Callaway. Wireless Sensor Networks: Architectures and Protocols. Boca Raton, CRC Press,2004:1-40
19 Wu Jian,Yuan Shenfang. A wireless sensor network node designed for exploring a structural health monitoring application. Smart Materials and Structures, 2007,10(1):1898-1906
20 F. AkyildizL, Su WL, E. Cayirci. A Survey on Sensor Networks. IEEE Communications Magazine,2002,40(8):102-114
21 F. Ian Akyildiz, H. Ismail Kasimoglu. Wireless Sensor and Actor Networks: Research Challenges. Ad-Hoc Networks,2004,2:351-367
22 A. Chandrakasan, R. Amirtharajah, S. Cho. Design Considerations for Distributed Microsensor Systems. Proceedings of the IEEE 1999 Custom Integrated Circuits Conference,1999:279-286
23孙雨耕,张静,孙永进.无线自组织传感器网络.传感技术学报,2004,2:331-348
24李晓维,徐勇军,任丰原.无线传感器网络技术.北京:理工大学出版社,2007:191–219
25 T. He, C. Huang, B. Blum. Range-Free Localization Schemes in Large Scale Sensor Networks. In Proceeding of the 9th Annual Int’l Conf. on Mobile Computing and Networking,2003:81-95
26 R. Nagpal, H. Shrobe, J. Bachrach. Organizing a Global Coordinate System from LocalInformation on an Ad-Hoc Sensor Network. In the 2nd International Workshop on Information Processing in Sensor Networks,2003,4:1109-1120
27 N. B. Priyantha, H. Balakrishnam, E. Demaine. Anchor-free Distributed Localization in Sensor Networks. Technical Report MITL CS-TR-892, MIT Lab for Computer Science, 2003,3:1190-1198
28 Roy Want, Andy Hopper, Veronica Falcao. The Active Badge Location System. ACM Transactions on Information Systems,1992,1(10):91-102
29 J. Hightower, G. Boriello. Location Systems for Ubiquitous Computing. Computer, 2001,34(8):57-66
30 X. Hong, M. Gerla, H. Wang. Energy-Aware Communications for Mars Sensor Networks. Proceedings of IEEE Aerospace,2002,3:113-116
31 S. J. Lee, M. Gerla. Split Routing with Maximally Disjoint Paths in Ad-hoc Networks. Proceedings of IEEE ICC,2001,6:3201-3205
32 S. Dulman, T. Nieberg, Wu Jian. Trade-off Between Traffic Overhead and Reliability in Multipath Routing for Wireless Sensor Networks. Proceedings WCNC, IEEE 2003,3:1918-1922
33 A. Harter, A. Hopper, P. Steggles. The Anatomy of a Context-Aware Application. Wireless Network,2002,3(8):187-197
34 L. Girod, D. Estrin. Robust Range Estimation Using Acoustic and Multimodal Sensing. IEEE International Conference on Intelligent Robots and Systems. Hawaii (USA),2001,3:1312-1320
35 D. Niculescu, B. Nath. Ad-Hoc Positioning System (APS) Using AOA. Proceedings of the IEEE INFOCOM,2003,3:1734-1743
36 Girod L, Bychovskiy V, Elson J. Locating Tiny Sensors in Time and Space: A Case Study. Proceedings of International Conference on Computer Design,2002:214-219
37 X. Shen, Z. Wang, Y. sun. Connectivity and RSSI Based Localization Schemes for Wireless Sensor Networks. International Conference on Intelligent Computing, Lecture Note on Computing Science,2005,8:578-587
38 K. Chakrabarty, S. S. Iyengar, H. Qi. Grid Coverage for Surveillance and TargetLocation in Distributed Sensor Networks. IEEE Transactions on Computers,2002, 51(12):1448-1453
39 F. Lin, P. L. Chlu. A Near-optimal Sensor Placement Algorithm to Achieve Complete Coverage / Discrimination in Sensor Networks. IEEE Communications Letters, 2005,9(1):43-45
40姚向华,韩九强.传感器网络中的传感器配置问题研究.信息与控制,2006,35(2):252-274
41 S. Dhillon, K. Chakrabarty. Sensor Placement for Effective Coverage and Surveillance in Distributed Sensor Networks. IEEE Wireless Communications and Networking Record,2003:1609-1614
42屈玉贵,翟羽佳,蔺智挺,等.一种新的无线传感器网络放置模型.北京邮电大学学报,2004,27(6):1-5
43蔺智挺,屈玉贵,翟羽佳,等.一种高效覆盖地节点放置算法.中国科学技术大学学报,2005,35(3):411-416
44 S. Adlakha, M. Srivastava. Critical Density Thresholds for Coverage in Wireless Sensor Networks. In Proceeding of IEEE Wireless Communications and Networking Conference,2003:1615-1620
45 S. Meguerdichian, F. Koushanfar, G. Qu. Exposure in Wireless Ad-Hoc Sensor Networks. In Proceedings of the ACM International Conference on Mobile Computing and Networking,2001:139-150
46 O. Khatib. Real-time Obstacle Avoidsnce for Manipulators and Mobile Robots. International Journal of Robotics Research,1986,5(1):90-98
47 A. Howard, M. Matari, G. S. Sukhatme. Mobile Sensor Network Deployment using Potential Fields: A Distributed, Scalable Solution to the Area Coverage Problem. In Proceeding of Conference on Distributed Autonomous Robotic Systems,2002:299-308
48 Y. Zou, K. Chakrabarty. Sensor Deployment and Target Localization based on Virtual Forces. In Proceeding of IEEE INFOCOM,2003:1293-1303
49 N. Heo, P. K. Varshey. An Intelligent Deployment and Clustering Algorithm for a Distributed Mobile Sensor Networks. In Proceeding of IEEE International Conferenceon system, Man and Cybernetics,2003:4576-4581
50李石坚,徐从福,吴朝晖,等.面向目标的传感器网络布局优及保护策略.电子学报,2006,34(1):71-76
51谢洁锐,胡月明,刘才兴.大田检测中无线传感器网络的部署.现代计算机,2002,20(3):36-38
52于宁,万江文,吴银锋.无线传感器网络定位算法研究.传感技术学报,2007,20(1):187-192
53戴桂兰,赵冲冲,邱岩.一种基于球面坐标的无线传感器网络三维定位机制.电子学报,2008,36(7):1297-1303
54 R. Stoleru, T. He, A. Stankovic. Walking GPS: A Practical Solution for Localization in Manually Deployed Wireless Sensor Networks. IEEE Workshop on Embedded Networked Sensors EmNetS-I.,2004:1146-1158
55 M.Sichitiu, V. Ramadura. Localization of Wireless Sensor Networks with a Mobile Beacon. In MASS,2004:1098-1105
56 N. B. Priyantha, H. Balakrishnan, E. Demaine. Mobile-assisted Localization in Wireless Sensor Networks. In INFOCOM,2005:970-985
57 SUN Guolin, GUO Wei. Comparison of Distributed Localization Algorithms for Sensor Network With a Mobile Beacon. Proceeding the 2004 IEEE International Conference on Networking, Sensing and Control,2004:536-540
58 A. Galstyan, B. Krishnamachari, S. P. K. Lerman. Distributed Online Localization in Sensor Networks Using a Moving Target. Proceeding the International Symp on Information Processing Sensor Networks,2004:61-70