本文介绍了对连续波雷达的多普勒频率信息，用自定位技术获得高精度的弹道位置参数的一种方法。
In this paper, a self-position technique is introduced to obtain high accuracy position parameters from doppler frequency.
首先介绍了国内外机器人自定位研究现状，阐述了定位研究的主要方法、关键问题以及技术发展趋势。
The paper firstly expounds state of the art in localization research, and presents the leading methods, key technical issues and future development trends.
定位技术的核心是定位算法，本文主要研究基于测距的WS N自定位算法。
This paper mainly deals with the range-based self-localization algorithm in WSNs.
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