Analysis of node localization error behavior based on uncertain beacon in wireless sensor networks
无线传感器网络环境下基于锚节点定位的节点定位误差分析*

Exploring the localization error behavior in case of using range measurement to localize the network. Analysis is based on analytical bounds for the covariance given by the CRLB. Expanding the classical application CRLB to a formulation which allows us to compute the uncertainty associated with the node for the case of beacon with uncertain positions, and then developing a fundamental understanding of how network setup parameters affect the error behavior in node position estimates. The experiments provide the validity of our method. Under the same configuration of Network, it proved that our method is the extension of classical CRLB model in WSN and triangulation-based pose estimate. It provides the same result as the method described above.