Localization Using Joint Distance and Angle Information for 3D Wireless Sensor Networks

On the problem of wireless sensor network localization, few true three-dimensional (3D) methods have been developed to satisfy the practical needs. In this work we propose a range-based 3D localization algorithm that is accurate, anchor-free, scalable and physical position available. A novel combination of distance and direction measurement technique is introduced to estimate ranges between neighbors. Based on this information local coordinate systems are constructed and then converged to form a global network wide coordinate system, which finally leads to nodes´ absolute positions. Simulation results have shown that our algorithm achieves good tradeoff between localization percentage and precision when node degree equals 12 or around.