In order to effectively locate coordinates of unknown node

localization algorithm usually select any three beacon nodes to compose a triangle then work out the centroid of this triangle

however the localization error is larger.In order to improve node localization precision

take any four beacon nodes form quadrangle

then this quadrangle is divided into two triangles and respectively work out centroids

then workout average value of coordinates of two centroid

as centroid of unknown nodes.This algorithm avoids large error brought from concave quadrilateral composed of four beacon nodes.Dynamic simulation experimental result in opnet environment

show that without adding node

compared with original centroid algorithm convergence rate decreases slightly

but computation precision is increased.