Abstract: As a new information acquisition and process platform，wireless sensor networks can achieve complex large-scale monitoring and tracking tasks in the application areas of poor environment and inaccessible terrains.Considering wireless sensors deployed in the non-planar application scenarios，a localization algorithm is presented based on compensation coefficient.In the presented algorithm，the compensation coefficient is calculated by the weighted average method and uses the least squares solutions in the trilateral measurement method to improve wireless sensor network nodes in the accuracy of positioning itself.The simulation demonstrates the proposed algorithm compared with the traditional ideal state in the same plane positioning algorithm，it improves positioning accuracy to meet the needs of practical applications.

Key words: wireless sensor network, localization, compensation coefficient algorithm, the least-squares algorithm

摘要： 作为一种全新的信息获取和处理平台，无线传感器网络广泛应用在环境恶劣、不可到达领域中实现监测与跟踪任务。考虑到无线传感器通常部署在非平面应用场景，提出了一种基于补偿系数节点定位算法。算法中利用加权平均方法来计算补偿系数，同时在三边测量法中使用最小二乘解来提高无线传感器网络节点自身定位的准确程度。仿真实验表明该算法与传统的位于同一平面理想状态定位算法相比，更能提高定位精度以满足实际应用的需要。

关键词: 无线传感器网络, 定位, 补偿系数算法, 最小二乘解