中文摘要：

针对非视距（NLOS）对无线传感器网络节点定位的影响,提出一种适用于非视距影响严重的低速自主移动节点的定位方法.利用自主移动节点的速度和方向2个运动信息实现节点的初步定位,再利用未受非视距影响的信标节点发送的精确坐标与超声波测距信息经过比例运算得到精确的移动节点位置信息.仿真结果表明,该方法能够克服局部的非视距影响,具有定位精度高、计算工作量少等特点,适用于具有运动感知能力和硬件资源有限的低速移动节点定位.

英文摘要：

A novel localization method for mobile sensor node under the environment seriously affected by non-line of sight（NLOS） was proposed in order to overcome the NLOS impact on the localization of wireless sensor network nodes.Initial position was achieved by utilizing two velocity information of the mobile node—speed and direction.Then the accurate localization results of mobile nodes were gained by simple ratio computation of precise coordinates sent by the beacon nodes which were not affected by NLOS and the ultrasonic distance measurement.Simulation results show that the method can overcome the impact of local NLOS with much higher localization accuracy and less computation time cost.The method is suitable for the mobile sensor nodes with motion sensing capabilities and limited hardware resources.