Wireless accurate location algorithm based on node cooperation in underground coal mine

In view of problems that existing multilateral location algorithms had low location accuracy and poor robustness in the case of sparse location base station, a wireless accurate location algorithm based on node cooperation was proposed. Weighted non-convex location model with the minimum error sum of unknown nodes, and corresponding non-iterative location algorithm was proposed. The simulation and experimental results show that average location error of unknown nodes obtained by the proposed algorithm decreases with the increasing of the number of nodes in typical roadway location arrangement and uniform random nodes, and downward trend slows down as the number of nodes increases. The location algorithm can achieve overall improvement of location robustness and location accuracy, which is at the cost of lowering the location accuracy of individual nodes and increasing the complexity of location time.