Successive localization of mobile sensor nodes using non-parametric belief propagation

In this article, we propose a method for positioning networked sensor nodes that include mobile ones. When nodes can measure the relative distances to their neighbor ones, we can estimate the absolute position of each node. Once distributed static nodes are positioned, we can position a mobile node for each time that moves through the distributed ones and measures the relative distances to the distributed ones. By using these distances, we can improve the estimated positions of the distributed nodes. For this estimation, we employ the non-parametric belief propagation. Simulation results showed that the proposed method successively improved the estimated positions.