An Anchorless Cooperative Localization System for Wireless Ad-Hoc Networks.

In this paper, we propose a wireless ad-hoc localization system where each node is assumed to be equipped with ranging (RSSI/TDoA) and AoA capability. Using these capabilities each node can measure distance and bearing of neighboring nodes. These measurements are supplied to each connected nodes in the network. Using the measurements of each neighboring node pairs, a node can construct a whole network coordinate map, where the location of every node is shown relative to a reference point (i.e. the node’s own location). Using this network coordinate map, the nodes can maintain connectivity with their neighbors. Unlike triangulation, the system does not need at least two or more neighbors of each node for approximating the node position, rather it can attain this even with a single neighbor. We will also show that the system has reliable accuracy when more accurate ranging and angulation systems are used.