A New Lower Bound on Range-Free Localization Algorithms in Wireless Sensor Networks

This letter examines the lower bound on localization error, which is an important performance measure for localization algorithms. Unlike some previous works based on the circular coverage model, we consider a more realistic scenario where radio propagation is subject to log-normal shadow fading. In this letter, we present an analytical expression for the distribution of lower bound on localization error for any range-free localization algorithm in WSNs. Finally, the derivation is validated through simulations.