A Robust 3D Ranging and Analytic Location for Mobile Wireless Sensor Nodes

It is a basic application-supported technique to realize dynamic location. In order to make the precise locating method which is rather susceptible to the precise of the clock by the electromagnetic ranging ways only fit the continuous changing of the neighbor anchor nodes especially in the anchor-node-deficiency situation in which all the nodes move randomly in the environment where the electromagnetic disturbance, multipath effect and the NLOS (non line of sight) etc are mixed together. The asynchrony TDOA (Time Difference Of Arrival) ranging and analytic location based on the infrasonic and the electromagnetic signals is proposed in this thesis and the tracks are plotted by interpolative resume as well. The simulation results show that the method is robust and the average locating error is about 2~3 times as the ranging error.