Research on 3D Localization Algorithm of Wireless Sensor Networks in Underground Coal Mine

Most of the existing algorithms for Wireless Sensor Networks (WSN) localization in underground coal mine are exposed such problems as unreasonable node model, low accuracy and unsteady. This paper presents a new method of nodes layout in coal mine roadway, and builds positioning model underground. Compared with traditional model, this model can reduce the number of sensor nodes when meets positioning requirement. Then the non-ranging positioning algorithm of TDOA/AOA hybrid algorithm, currently used as three-dimensional positioning algorithm, is introduced to the model. Simulation results show that: this algorithm has better positioning performance than the traditional algorithms, fitting into underground coal mine.