Two-stage positioning algorithm in complicated three dimensional environment

Ordinary nodes utilize static beacon nodes to achieve their location in existing three-dimensional positioning algorithms. The static beacon nodes need to send beacon message continuously to guarantee the positioning rate, but this will increase the energy consumption. To deal with this problem, we introduce an auxiliary device as beacon node in this paper, and come up with a two-stage positioning algorithm. Finally, we use MATLAB simulation tools to verify the superiority of this algorithm.