Distributed Collaborative Localization Algorithm Based on UWB

Abstract

For traditional MDS - MAP algorithm, they can realize the distributed computing the default distance matrix. In this paper, we put forward a kind of based on the centroid coordinates of MDS algorithm, according to the distance between UWB wireless sensor node, through the center of mass model list other nodes and the relationship between the reference node matrix equation, and a distributed positioning algorithm flow was proposed. Then, the simulation results showed that compared with the traditional MDS-MAP algorithm, the positioning accuracy of the proposed algorithm was improved by 13%.