Constraint-based sensor network nodes particle swarm search localization algorithm

A constraint-based sensor network nodes particle swarm search localization algorithm (CPL) is presented. First of all, a constraint domain of an unknown node must be determined; Then the positions which meet specific criteria is searched out by particle swarm optimization algorithm and the searching results within the constraint domain are recorded; Finally, the unknown node´s localization can be obtained by calculating the average recording results. As is shown in the experiment results, CPL has strong robustness, and comparing with normal schemes such as least square method (LS), CPL´s positioning accuracy can improve 50% when the ranging error is 35%.