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针对三维近似三角形内点测试定位算法(3D-APIT)中存在的边缘效应、四面体内点测试带来的误判问题,引入多跳机制,提出融合多跳机制的三维加权APIT(Approximate Point-In-triangulation Test)定位算法(3D-MHWC-APIT)。以未知节点一跳范围内的锚节点为圆心、通信半径为半径做锚球,并将锚球分别向XOY、YOZ、XOZ平面投影,通过投影区域的质心坐标算术平均定位未知节点。在求投影区域的质心坐标时,考虑不同信号强度的邻近锚节点对其定位的贡献程度不同,赋予一定权值,以消除两种误判。仿真实验结果表明,锚节点数不小于4情况,3D-MHWC-APIT算法定位误差低于3D-APIT算法。
In order to solve the misjudgment problem caused by the edge effect and tetrahedron in 3D-APIT algorithm, a multi-hop mechanism is proposed and a three-dimensional weighted APIT (Approximate Point-In -triangulation Test positioning algorithm (3D-MHWC-APIT). Taking the anchor nodes within the range of unknown nodes as the center of circle and the radius of communication as the anchor ball, the anchor balls are respectively projected onto the XOY, YOZ and XOZ planes. The unknown nodes are averagely located through the centroid coordinates of the projection area. When finding the centroid coordinates of the projection area, the adjacent anchor nodes considering different signal intensities have different contributions to their positioning, and given a certain weight to eliminate the two kinds of misjudgment. The simulation results show that the number of anchor nodes is not less than 4, and the positioning error of 3D-MHWC-APIT algorithm is lower than that of 3D-APIT algorithm.