Successive sensor nodes localization using non-parametric belief propagation

We propose a method for localizing networked sensor nodes that include both static node and mobile ones. When nodes can measure the relative distances to their neighboring 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.