Self-adapting positioning method for mobile nodes of hybrid sensor network

The invention relates to a self-adapting positioning method for mobile nodes of a hybrid sensor network. The system mainly comprises a plurality of common static nodes, mobile nodes, convergent nodes and a background monitoring center, wherein the common static nodes and the mobile nodes are communicated by the ZigBee mesh network protocol. The positioning process for the mobile nodes are mainly divided into the following three stages including node deployment, calibration and real-time positioning; and the method is characterized by making on-line correction of the attenuation model of wireless signal prorogation in a spot monitoring environment by utilizing a method that the mobile nodes self deploy or artificially deploy new nodes, eliminating the positioning error caused by the conditions of node self energy, data loss, small measured RSSI (Received Signal Strength Indication) value and the like, and simultaneously eliminating the participation of lineal children nodes into the positioning calculation of the mobile nodes on a great attenuation communication link caused by barriers and the like, thereby improving the self adapting positioning ability and the positioning accuracy of the mobile nodes of the hybrid sensor network, and the new nodes deployed can improve the robustness and the reliability of the entire network.