Comparison of node localization methods for sensor networks

A randomly deployed sensor network is typically not completely localizable using distance-based measurements only. Though a necessary and sufficient condition for testing whether a network is localizable has been given in the literature, how to find localizable nodes from a not fully localizable network is still open. In this paper, we try to address a connection between two well-known localization methods, the trilateration method and the WHEEL extension method, by using a graphical tool named Henneberg operations. We also study whether Henneberg operations always guarantee the localizability of a network. The localizability by a Henneberg operation-based algorithm is given. Simulation shows that the performance of this algorithm for finding localizable nodes is very close to a well-known necessary condition called 3-path condition.