Robust Positioning Algorithms for Distributed Ad-Hoc Wireless Sensor Networks

A distributed algorithm for determining the positions of nodes in an ad-hoc, wireless sensor network is explained in detail. Details regarding the implementation of such an algorithm are also discussed. In a 400 node network in which the nodes are randomly placed within a 100x100 square, the algorithm is shown to achieve average position errors of less than 33% of a node's radio range in the presence of 5% range measurement error when at least 5% of the nodes are anchor nodes (with known position) and the average connectivity of a node is greater than 7 nodes. It is shown that the algorithm performs well in networks in which nodes are connected to at least 7 one-hop neighbors on average and where…