Establishment of a new improved weighted centroid position solution method in network environment

In the proposed algorithm, the inertial navigation and the improved weighted centroid position calculation method work independently in a loose combination manner, and achieve the optimal estimation of integrated positioning by fusing the sensor information from different sources, realizing the design goal of wireless sensor network to provide absolute position information for the inertial navigation system. The experimental results show that the improved weighted centroid positioning/inertial navigation method in the network environment is better than the improved weighted centroid positioning or inertial navigation method in terms of positioning accuracy and noise, reflecting the complementary advantages of absolute positioning and relative positioning and the ability to provide high-precision coordinates in the static working environment. In theory, the CENTER OF GRAVITY (COG) algorithm uses the trilateral measurement method to realize the location of another node on the premise that the received signal strength of the three anchor nodes in the wireless sensor network is known. However, due to the uncertain component of the received signal strength of the anchor node, the location of another node cannot be completely determined in actual operation, so this paper uses some additional algorithms to ensure the feasibility of node location, such as the least squares algorithm [1] and the maximum likelihood estimation method [2].In order to control the cost, a few location-aware nodes, called anchor nodes, are deployed in the wireless sensor network environment. Mobile nodes in the network estimate their position through these anchor nodes. Therefore, this paper proposes a modified form of COG algorithm, ICOG(Improved CENTER OF GRAVITY ). The proposed algorithm adopts an anchor node position verification mechanism by observing the consistency of the received signal strength quality. The anchor nodes near the mobile node use the received signal strength to seek to verify the actual position or proximity of other anchor nodes near it. This process alleviates the multipath effect in the process of radio wave transmission, especially in the closed environment, thus effectively controlling the positioning error and uncertainty.