Improved centroid localization algorithm based on possible position set in wireless sensor network

To solve the problem that the localization accuracy of centroid algorithm depends heavily on the anchor density, an improved centroid algorithm based on possible position set is proposed. Firstly, the unknown node uses centroid algorithm to obtain a square region and then searches its possible position set in the square region. Finally, the centroid of all possible positions is the estimated coordinate of the unknown node. The introduction of possible position set fully utilizes the location information of anchors and reduces the localization error. Simulation results represent that our algorithm can provide higher localization accuracy than the centroid algorithm and the advanced centroid algorithm.