A Comprehensive Algorithm for Estimating the Location of a Mobile Object in a Heterogene ous Environment

A key factor in enhancing the efficiency of navigation systems across various domains is the development of novel approaches for determining the location of mobile objects within heterogeneous signal propagation environments. The non-uniform nature of wireless environments necessitates a comprehensive positioning strategy, integrating diverse technologies, algorithms, and data processing methods. Wireless positioning relies on the presence of mobile nodes, whose locations must be determined relative to fixed reference wireless nodes (base stations) with known and precise positions within the adopted coordinate system. This research aims to develop an algorithm for estimating the location of a mobile object in a heterogeneous environment utilizing range measurement and trilateration techniques. The paper presents a process for determining the coordinates of a mobile object based on measuring signal propagation time between network nodes and employing a triangulation algorithm to calculate the agent’s coordinates. To pinpoint the agent’s location using measured distances from base stations, the research employs geometric methods for estimating the agent’s location, the least squares method, and the received signal strength indicator, depending on the quantity of data received from various base stations. Numerical studies reveal that the developed comprehensive algorithm for determining the agent’s location enables the estimation of its coordinates in a two-dimensional heterogeneous environment when measurements are available from two or more base stations. The obtained results hold potential for application in the design of positioning systems for wireless sensor networks, utilized in tasks involving monitoring, navigation, logistics, and other areas.