中文摘要：

本文在研究自主移动节点运动特性的基础上，提出一种基于位姿评估技术的自主移动节点定位算法。该算法适用于可以获取速度信息以及具有射频定位功能的移动节点。该算法利用移动节点速度信息计算相对定位轨迹；然后对相对定位轨迹进行平移，旋转变换，使变换后的相对定位轨迹与射频定位轨迹的结果差别最小来修正累积误差；最后从修正后相对定位轨迹上获取最终定位结果。仿真实验结果表明，所提出的算法在参数取值合理的条件下，能够有效地提高移动节点定位精度。

英文摘要：

Mobile wireless sensors need to know their locations in many control and monitoring applications. A novel localization algorithm based on Location and Attitude Estimation（LAE）for mobile sensor nodes that can acquire the velocity information is proposed in this paper. Firstly, the relative localization track（RLT）, which reflects the shape of true track, is obtained using the velocity information. Then the cumulative error of RLT is corrected while the global optimum solution is obtained by minimizing the difference between RLT and radio localization track. Finally, a more accurate localization result presents itself from the corrected RLT. Simulation results show the performances of our methods in term of accuracy and determinate the parameter the more adapted related to the network configurations.