中文摘要：

随着无线传感器网络研究和应用的发展，城市规模的无线传感器网络开始出现，然而，其大规模、低成本、移动性和节点稀疏性等特性都给定位带来了困难。基于城市移动无线传感器网络的一种典型应用，研究了不依赖全球定位系统的无线传感器网络的定位问题，在曼哈顿环概率移动模型的基础上设计定位算法，并钛理论和仿真两方面分析了该算法的收敛性和稳定性。

英文摘要：

With the development of the wireless sensor networks, city-wide deployments begin to emerge. However, its charac- teristics, such as large scale, low cost, mobility and sparse topology, bring difficulties and challenges to the localization methods. In this paper, a GPS-free cooperative localization algorithm is proposed,as a solution to the localization demands for typical metropolitan area wireless sensor networks, it takes advantage of the Manhattan Torus probabilistic mobility model. The convergence and stability condition of this algorithm are analyzed by analytical and simulation results.