Comparison of different mobile WSN node localization techniques within the controlled microclimatic environment

Localization is the method of finding a wireless sensor network (WSN) node´s position in space. This paper presents the procedure for locating mobile nodes in a wireless sensor network, including the techniques for estimating internode distances and angles and how nodes compute their positions using trilateration, multilateration or triangulation. These methods use the distances of different nodes with known locations to compute a mobile node´s 2D position. The location estimation is compared using these methods in a real test environment, in this case, a greenhouse. A comparison of localization error is also given based on a real measurement within the controlled microclimatic environment.