质心

The proposed algorithm improves localized nodes ratio by multihop centroid calculating，and improves localization accuracy by decentralizing process and signal strength-weighting process.

该算法对单跳心算法进行多跳扩展以改善定位比率，并入场强权程和去中心化程以提高定位精度。

Finally experiments indicate that squared cancroid method is better, which is simple and easy implemented and improves the locating precision and the Noise resisting ability.

验表，平方权心法是一种较为理想的细分定位方法，不仅简单、易于现，而且具有更高的定位精度以及抗噪声的能力。