Anchor nodes refinement in joint localization and synchronization of a sensor node

This paper proposes an estimator for refining the inaccurate positions and clocks of the anchors during the localization and synchronization of a sensor node in a wireless sensor network. It solves the highly nonlinear problem in closed-form through parameter transformation and multi-stage weighted least squares processing. Theoretical analysis and simulation studies show that the proposed estimator is able to provide the CRLB accuracy for both the sensor node and the anchors under reasonable amount of Gaussian errors.