本文档主要是完成在无线传感器网络中对节点的定位操作，包括串口通信模块，数据通信模块，定位计算模块等操作，其中给出了关键代码和具体的流程。-The documents are mainly complete in wireless sensor network node location to the operation, including serial interface communication module, data communication module, positioning calculation module operation, which gives the key code and specific flow.