一种基于无线传感器网络的星球漫游机器人定位算法

A Planetary Rover Localization Algorithm Based on Wireless Sensor Network

摘要: 在总结国内外星球机器人定位算法的基础上，利用无线传感网络技术，提出了综合RSSI算法（接收信号强度指示）和切圆圆心法的RCM算法（接收信号强度指示与切圆圆心混合定位算法），并给出了理论模型．仿真分析结果证明了该算法的有效性，在RSSI测距误差散布达到50%时，定位误差可降到10%以内．

Abstract: First of all,the existing localization algorithms for planetary rovers are summarized.And then,the RCM(RSSI and Circle centre Mixed localization) algorithm and its theoretical model,which combines RSSI(Received Signal Strength Indicator) algorithm with the excircle center algorithm,are proposed based on the technology of wireless sensor network.Simulation results show that the localization error is reduced to less than 10% even when the error of RSSI algorithm is up to 50%,demonstrating validity of the proposed RCM algorithm.