In order to improve the localization accuracy of DV-Hop,Unscented Kalman Filtering( UKF) Localization algorithm based on modifying average hop distance ( UKF-DV-Hop ) is proposed in this paper. Firstly, the he structure of data packets by anchor nodes with broadcasting is changed,then average hop distance error is modified, in order to reduce the ranging error. An inaccurate position coordinate of the unknown node was obtained by least square estimation ( LSE ) , and an accurate node localization method was achieved by using UKF. Numerous simulation results show that normalized average localization error ratio of UKF-DV-Hop algorithm is about 40% less than that of traditional DV-Hop algorithm.%为了提高DV-Hop算法的定位精度,提出基于测距修正的无迹卡尔曼滤波优化定位算法UKF-DV-Hop(Unscented Kalman Filtering Localization algorithm based on modifying average hop distance).UKF-DV-Hop算法先对信标节点广播的信息包进行改进,然后对跳距误差进行加权处理,进而减少测距误差,再利用最小二乘法估计未知节点位置,最后再利用无迹卡尔曼滤波UKF滤波优化节点位置.实验结果表明,与传统的DV-Hop算法相比,提出的UKF-DV-Hop算法的归一化平均误差率下降了约40%.
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