Empirical localisation method for wireless sensor nodes in confined industrial processes

This paper is concerned with a novel localisation method for wireless sensors, immersed within vessels, to monitor process dynamics. The empirical localisation technique is based on Time Difference of Arrival measurements taken on a plane located above the process vessel. Certain properties of the Time Difference of Arrival profiles converted into Distance Difference profiles, are proved mathematically. These properties form the basis of a new localisation method, which, on the basis of experimental measurements, have shown to achieve localisation accuracies up to 15cm.