The proposed algorithm improves localized nodes ratio by multihop centroid calculating，and improves localization accuracy by decentralizing process and signal strength-weighting process.

该算法对单跳质心算法进行多跳扩展以改善定位比率，场强权过程和去中心化过程以提高定位精度。

Finally experiments indicate that squared cancroid method is better, which is simple and easy implemented and improves the locating precision and the Noise resisting ability.

通过验表，平方权质心法是一种较为理想的细分定位方法，不仅简单、现，而且具有更高的定位精度以及抗噪声的能力。

The proposed algorithm improves localized nodes ratio by multihop centroid calculating，and improves localization accuracy by decentralizing process and signal strength-weighting process.

该算法对单跳质心算法进行多跳扩展以改善定位比率，并入场强权程和去中心化程以提高定位精度。

Finally experiments indicate that squared cancroid method is better, which is simple and easy implemented and improves the locating precision and the Noise resisting ability.

通实验表，平方权质心法是一种较为理想的细分定位方法，简单、易于实现，而且具有更高的定位精度以及抗噪声的能力。

The proposed algorithm improves localized nodes ratio by multihop centroid calculating，and improves localization accuracy by decentralizing process and signal strength-weighting process.

该算法对单跳质心算法进行多跳扩展以改善定位比率，并加入场强加权和去中心以提高定位精度。

Finally experiments indicate that squared cancroid method is better, which is simple and easy implemented and improves the locating precision and the Noise resisting ability.

通实验表，平方加权质心法是一种较为细分定位方法，不仅简单、易于实现，而且具有更高定位精度以及抗噪声能力。

The proposed algorithm improves localized nodes ratio by multihop centroid calculating，and improves localization accuracy by decentralizing process and signal strength-weighting process.

该算法对单跳质心算法进行多跳扩展以改比率，并加入场强加权过程和去中心化过程以提高精度。

Finally experiments indicate that squared cancroid method is better, which is simple and easy implemented and improves the locating precision and the Noise resisting ability.

通过实验表，平方加权质心法是一种较为理想的细分方法，不仅简单、易于实现，而有更高的精度以及抗噪声的能力。

The proposed algorithm improves localized nodes ratio by multihop centroid calculating，and improves localization accuracy by decentralizing process and signal strength-weighting process.

该算法对单跳质心算法进行多跳扩展以改善定位比率，并入场强权程和去中心化程以提高定位精度。

Finally experiments indicate that squared cancroid method is better, which is simple and easy implemented and improves the locating precision and the Noise resisting ability.

通表，平权质心法是一种较为理想的细分定位法，不仅简单、易于现，而且具有更高的定位精度以及抗噪声的能力。

The proposed algorithm improves localized nodes ratio by multihop centroid calculating，and improves localization accuracy by decentralizing process and signal strength-weighting process.

该算法跳质心算法进行多跳扩展以改善定位比率，并加入场强加权过程和去中心化过程以提高定位精度。

Finally experiments indicate that squared cancroid method is better, which is simple and easy implemented and improves the locating precision and the Noise resisting ability.

通过实验表，平方加权质心法是一种较为理想的细分定位方法，不仅简、易于实现，而且具有更高的定位精度以及抗噪的。

The proposed algorithm improves localized nodes ratio by multihop centroid calculating，and improves localization accuracy by decentralizing process and signal strength-weighting process.

该算法对单跳质心算法进行多跳扩展以改善定位比率，并加入场强加权过程和去中心化过程以提高定位精度。

Finally experiments indicate that squared cancroid method is better, which is simple and easy implemented and improves the locating precision and the Noise resisting ability.

通过实验表，平方加权质心法是一种较为理想的细分定位方法，不仅简单、易于实现，而且具有更高的定位精度以及抗噪声的能力。

The proposed algorithm improves localized nodes ratio by multihop centroid calculating，and improves localization accuracy by decentralizing process and signal strength-weighting process.

该算法对单跳质心算法进行多跳扩展以改善定位比率，并加入场强加权过程和去中心化过程以提高定位精度。

Finally experiments indicate that squared cancroid method is better, which is simple and easy implemented and improves the locating precision and the Noise resisting ability.

通过实，加权质心法是一种较为理想的细分定位法，不仅简单、易于实现，而且具有更高的定位精度以及抗噪声的能力。

The proposed algorithm improves localized nodes ratio by multihop centroid calculating，and improves localization accuracy by decentralizing process and signal strength-weighting process.

该算法对单跳质心算法进行多跳扩展以改善定位比率，场强权过程和去中心化过程以提高定位精度。

Finally experiments indicate that squared cancroid method is better, which is simple and easy implemented and improves the locating precision and the Noise resisting ability.

通过验表，平方权质心法是一种较为理想的细分定位方法，不仅简单、现，而且具有更高的定位精度以及抗噪声的能力。