定位机制研究(Localization Existing positioning systems Manual configuration is often infeasible for large-scale deployments or mobile systems. Global Positioning System(GPS)is not suitable for indoor or underground environments and suffers from high hardware cost. Local Positioning Systems (LPS)rely on high density base stations being deployed,an expensive burden for most resource- constrained wireless ad hoc networks.定位机制研究（Localization） • Existing positioning systems – Manual configuration is often infeasible for large-scale deployments or mobile systems. – Global Positioning System (GPS) is not suitable for indoor or underground environments and suffers from high hardware cost. – Local Positioning Systems (LPS) rely on high density base stations being deployed, an expensive burden for most resource￾constrained wireless ad hoc networks