Research on Node Localization Based on UKF for WSN
Liu Jianye · Chuangan jishu xuebao · 2010
Unscented Kalman Filtering (UKF) simulates the posterior probability density function of a system,which avoids the fault of linearization error in Extended Kalman Filtering (EKF).A Wireless Sensor Network (WSN) localization algorithm was proposed based on weighted least squares estimation (WLSE) and UKF.Time of Flight (TOF) ranging was selected to measure the distance between the beacon node and the unknown node.With the TOF data,the distance measurement was obtained and optimized.An inaccurate position coordinate of the unknown node was obtained by using WLSE,and an accurate node localization method was achieved by using UKF.Simulation and analysis results indicate that the algorithm combining TOF and WLSE with UKF performs well in WSN node localization,and it can improve the positioning accuracy greatly.