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中文摘要：
为了充分考虑锚节点之间以及锚节点与未知节点之间拓扑关系对无线传感器网络定位精度的影响，我们引入了共线度的概念并将其应用到多跳网络的节点定位中，在此基础上提出了一种基于共线度的无线传感器网络定位算法（CBLA）。该算法首先动态地调节未知节点能够收集到的邻居锚节点信息，再通过共线度参数挑选网络中好的锚节点组进行位置估计，最后通过加权估计机制来得到最终的节点位置估计。理论分析和仿真结果表明，在规则网络中CBLA算法定位误差较小，最优情况下能够达到6％，在非规则网络中仍可达到较好的定位精度。
英文摘要：
In order to fully consider the topology relationship between anchor nodes and between anchor nodes and unknown nodes, we introduce the concept of collinearity and apply it into the localization of the multihop networks, and a Collinearity-Based Localization Algorithm （CBLA） is proposed. The algorithm can dynamically adjust the unknown nodes to collect the neighbour anchor nodes information, and then select the good anchor nodes teams through the collinerity parameter to realize the position estimate, and at last the final position is estimated by the weighted estimation mechanism. Theoretical analysis and simulations show that CBLA can get low localization errors in regular networks which are less than 6 % in good condition and can get low localization in both irregular networks.
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Game-theoretic modeling of joint topology control and power scheduling for wireless heterogeneous se
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