WIRELESS LOCALIZATION METHOD BASED ON AN EFFICIENT MULTILATERATION ALGORITHM OVER A WIRELESS SENSOR NETWORK AND A RECORDING MEDIUM IN WHICH A PROGRAM FOR THE METHOD IS RECORDED

摘要

PURPOSE: A wireless positioning method and a program recording medium thereof are provided to accurately compensate for positioning errors of an estimation location in real time by using an estimation location between a blind node and a reference node. CONSTITUTION: A wireless positioning server calculates an estimation location of a blind node by using three or more estimation distances(S18). The wireless positioning server calculates an error compensation distance and an error compensation direction based on a reference node which is near by the estimation location in order to compensate for errors included in the calculated estimation location(S22,S26). The wireless positioning server calculates the calculated estimation location of the blind node as the compensated estimation location(S28). [Reference numerals] (S10) Inputting an RSS value; (S12) Selecting a node; (S14) Calculating an estimation distance between a reference node and a blind node; (S16) Compensating the error of the estimation distance using a geographical error compensation method; (S18) Estimating the estimation location of the blind node by trilateration using the estimation distance; (S20) Calculating angles(phases) between each reference node and the estimation location; (S22) Calculating a compensation direction(angle) using the vector sum of two angles of each nearest reference node and farmost reference node from the estimation location toward the estimation location; (S24) Calculating the distance between the estimation location and the nearest reference node; (S26) Calculating a difference between the estimation distance of the nearest reference node from the estimation location and the distance of the estimation location and the reference node as a compensation distance; (S28) Changing the coordinate of the estimation location using the calculated compensation distance and the compensation direction(angle)