| 摘要 |
A method (400) of estimating a location of a mobile node(100) in a network comprising a plurality of similar nodes. The mobile node(100) comprises a GPS receiver (114) and a radio communications transceiver (112) having a variable communications range for communication with proximate nodes. The method (400) includes activating (402) the GPS receiver (114) to determine an initial location estimate of the mobile node (100) at a first time instant, before deactivating (404) the GPS receiver (114) throughout a time interval subsequent to the first time instant. An ongoing estimate of uncertainty of location of the mobile node (100) during the time interval in which the GPS receiver (114) is deactivated is computed (406) based upon an estimated motion of the mobile node (100). The node communicates (410,412) via the radio communications transceiver (112) with one or more proximate nodes within a selected contact range, and receives (414) estimated location and uncertainty information from each such proximate node. The node (100 )then updates its estimate of uncertainty of location based upon the received location and uncertainty information and the selected contact range. |
