| 摘要 |
<p>PURPOSE: A mobile node location estimating method is provided to reflect a frequency deviation or a frequency deviation state variable of a plurality of fixed nodes to an extended Kalman filter. CONSTITUTION: Each frequency deviation of a plurality of fixed nodes is reflected to an extended Kalman filter(S50). The distance between each of the fixed nodes and a mobile node is estimated(S60). The estimated distance between each of the fixed nodes and the mobile node and a common frequency deviation status variable of the fixed nodes are reflected in the extended Kalman filter(S70). Using the extended Kalman filter, the location of the mobile node is estimated(S80). [Reference numerals] (AA) Start; (BB) End; (S10) Constructing a wireless network; (S20) Initializing an extended Kalman filter receiving frequency deviation; (S30) Measuring and collecting a distance between a first fixed node and other fixing node; (S40) Extracting frequency deviation from a plurality of fixed nodes; (S50) Reflecting frequency deviation to a Kalman filter; (S60) Collecting and measuring a distance between a mobile node and a plurality of fixed nodes; (S70) Reflecting a common frequency deviation variable of fixed nodes and a distance between a mobile node and fixed nodes to a Kalman filter; (S80) Estimating a location of a mobile node</p> |
