The multiple-model linearization based on the unscented transform and its application in nodes’ locations in wireless sensor networks

The unscented transform and the multiple-model method are employed to linearize nonlinear systems, and a new linearization method is designed called as the multiple-model linearization method based on the unscented transform (UT-MMLM). Because the UT-MMLM describes a nonlinear system by a linear systems´ set, it can further approach the original system. Based on this linear systems´ set, the multiple-model extended Kalman filter based on the unscented transform(UT- MMEKF) is designed. At last, the findings in this paper are used to locate nodes´ positions in wireless sensor networks(WSN).