Abstract: A collaborative localization system and target-tracking controller for mobile sensor networks is proposed.The localization system uses the onboard UWB ranging equipment to obtain the distance information between sensor nodes and build a distance matrix for the sensor network.The pose information is restored from the distance matrix rough the force-directed algorithm.Compared with global positioning systems such as GPS or beacons,this system does not need to deploy base stations in advance.Compared with visual positioning systems,the localization system uses Urbanology to achieve ranging and positioning which does not influence by illumination,visual occlusion.and limited perception range.The proposed sensor network system uses deep learning and hierarchical clustering to achieve target detection and image data fusion.The sensor network can automatically implement layout adjustment and collaborative target tracking.Because of its advantage,this sensor network system can be deployed in extreme environments such as battlefields,disaster areas,underground tunnels,and even outer space.This paper uses theoretical analysis to demonstrate the system stability of the force-directed positioning algorithm and proves the feasibility and practicality of the system through simulation experiments and robot experiments.

Key words: Sensor networks, Force-directed layout, Distributed positioning, Target tracking, UWB