Localization algorithm based on minimum condition number for wireless sensor networks

During range-based self-localization of Wireless Sensor Network (WSN) nodes, the number and placement methods of beacon nodes have a great influence on the accuracy of localization. This paper proves a theorem which describes the relationship between the placement of beacon nodes and whether the node can be located in 3D indoor environment. In fact, as the highest locating accuracy can be acquired when the beacon nodes form one or more equilateral triangles in 2D plane, we generalizes this conclusion to 3D space, and proposes a beacon nodes selection algorithm based on the minimum condition number to get the higher locating accuracy, which can minimize the influence of distance measurement error. Simulation results show that the algorithm is effective and feasible.