Safe compression perception positioning method based on square median

The invention discloses a safe compression perception positioning algorithm based on a square median under the attack of malicious nodes. The algorithm comprises steps of firstly, randomly dividing all measurement values based on receiving signal intensity into multiple measurement value subsets; then, using the compression perception reconstruction technology to estimate target positions corresponding to the subsets; calculating respective residual error medians of the subsets, finding a residual error vector with the smallest median, and using the residual error vector to define a verification parameters; in order to complement information loss caused by few measurement value samples, correcting an initial verification parameter which is used for finding an attacked malicious node; and finally, according to the verified unattacked measurement value sets, using the compression perception reconstruction technology to find the final target position and carry out estimation. According to the invention, by combi