Mobile robot aided localization of Wireless Sensor Network

This paper presents a method for the localization of a Wireless Sensor Network (WSN) in Robot-WSN System that only provides range measurements. We describe it in a Bayes framework and design the localization method aided by robot. We make good use of the mobility and computability of the robot, as well as distributed computability of the sensor nodes, and design a mode of using robot-node measurement and node-node measurement to simultaneously localize the node in cooperative localization way. We present a technique for the consistent cooperative localization of multiple measurements, and prevent the Cross-Correlation of the information used, which yields conservative covariance estimates. We derive the equations for the measurements between nodes containing the noise of position estimation, and make it possible to fusion both node-to-robot measurements and node-to-node measurements. The experiments proved the efficiency of the method.