描述了一种测距方法,给出了具体算法。Accordingtothecharacteristicsofwirelesssensornetworks,anovelrangingmethodisproposedbasedonmeasuringpropagationtimeofacousticsignalmodulatedwithpseudo-randomnumberthroughbinaryphaseshiftkeying(BPSK)andflyingtoandfrobetweentwosensornodesina