栅栏覆盖是无线传感器网络的重要研究内容之一，在安全防卫领域（如边境防卫、机场安全等）中发挥着重要作用。栅栏覆盖的构建与节点的感知模型和位置息息相关，传统栅栏覆盖研究通常关注于同构无线传感器网络且假定节点的准确位置已知。然而，现实应用场景中，无线传感器网络可包含多种类型传感器节点，且由于节点随机部署及节点自定位算法存在误差，我们无法获取节点的准确位置信息，从而严重影响栅栏覆盖的实际应用。本项目从现实应用角度出发，针对无线传感器网络中节点异构性及位置存在误差的实际问题，深入研究它们对栅栏覆盖的影响，提出利用可移动节点的移动性弥补节点间漏洞，设计满足应用需求的容错栅栏覆盖策略。本项目研究将解决栅栏覆盖在实际应用中面临的节点异构性及位置信息不准确等难题，弥补现有栅栏覆盖研究的不足，为栅栏覆盖在安全防卫领域的进一步应用提供理论基础与方法支撑，推动传感器网络在安全防卫领域的发展与广泛应用。

Barrier coverage is one of the most important topics in wireless sensor networks (WSNs), which plays an important role in security applications, such as border protection and airport security. Barrier coverage is highly related to the sensing models and the locations of sensor nodes. Traditional studies on barrier coverage usually focused on homogeneous WSNs which consist of the same type of sensor nodes and assumed that the locations of sensors nodes are known and accurate, which however are not always true in reality. First, a WSN may consist of multiple types of sensor nodes with different sensing models. Second, sensor nodes are usually deployed randomly and none of existing node localization algorithms could provide accurate location information for sensor nodes. Therefore, the two facts significantly affect the application of barrier coverage in security areas. In this project, we study the barrier coverage problem when sensor nodes have location errors in heterogeneous WSNs. In particular, we explore the effects of location errors of different types of sensor nodes on barrier coverage, and propose to leverage mobile sensor nodes to fill in gaps between stationary sensor nodes to form a barrier. Finally, an efficient fault tolerant barrier coverage algorithm will be proposed to form a barrier with a guarantee. This study will solve the barrier coverage problem with location errors and multiple sensing models of sensor nodes, and provide the theories and algorithms for implementing barrier coverage in real scenarios, which could significantly put forward the application of WSNs into security areas.