中文摘要：

为了避免室内定位受环境变化、遮蔽物遮挡等因素的影响，提出了一种动态射频地图构建方法，通过参数估计节点动态感知环境参数的变化，采用回归分析方法实时估计信号传播经验模型的参数，基于参数估计节点估计的环境参数、模型参数及信号强度等信息建立具有环境自适应能力的动态射频地图，然后采用粒子滤波算法实现对未知节点的位置估计。仿真及实验结果表明，该地图构建方法可动态适应环境的变化，定位算法可取得较精确的位置估计结果。

英文摘要：

To overcome the effect of environment dynamic and obstacles, a localization method based on dynamic radio map and particle filter was proposed. The parameters of the environment and propagation model were dynamical monitored and calculated by the monitor nodes by means of regression method. A radio map was build based on the newest environment parameters and RSSI information received from the nearest monitor node. The particle filter algorithm together with the dy- namic radio map was used to realize localization. Simulation and test results show that the localization method can adapt to the dynamic environment and achieve accurate estimation result.