以监控和控制为目的的算法因为其数据要在数据中心汇总和处理，大多使用集中式算法，其精度较高，但通信量大。分布式算法是传感器节点在采集周围节点的信息后，在其自身的后台执行定位算法，该方法可以降低网络通信量，但目前节点的能量，计算能力及存储能力有限，复杂的算法难以在实际平台中实现-To monitor and control algorithms for the purpose because of its data to be aggregated and processed in the data center, mostly using centralized algorithm, its high accuracy, but the communication volume. Distributed algorithm is the information collected in the sensor nodes around node positioning algorithm executed in its own background, the method can reduce network traffic, the limited energy of the current node, computing power and storage capacity, the actual complex algorithms difficult platform to achieve