中文摘要：

无线传感器网络中的节点定位技术是其得到广泛应用的关键支撑技术之一。尽管对定位技术已经有很多研究,但面向三维定位的研究较少并至今尚没有推出有效的定位算法。研究分析了现有的二维定位算法和个别依赖额外硬件三维定位算法后,提出基于共面度的三维定位算法。该算法通过分析参考点拓扑结构对定位造成的影响,在研究四面体的数学理论基础上提出了共面度的概念,并结合多重阈值选择策略以提高定位精度和减少不良节点比例。

英文摘要：

Localization is a key technology in wireless sensor network,and localization in three dimensional environments is very popular and will lead the future development of localization technology.We proposed a DCP3D（the degree of coplanarity three dimensional）algorithm after analyzing the typical localization algorithms.The DCP3D algorithm used the degree of coplanarity and multiple threshold constraint strategy to improve the accuracy by analyzing the beacon node topology.Simulation results show that the improved method has a good performance in accuracy,bad node control and stability.