3DWireless Network Localization from Inconsistent Distance Observations

This paper presents a 3-dimensional algorithm for determining the node locations in ad-hoc wireless local area sensor networks capable of internodal distance measurement (ranging). In accordance with common classification of localisation strategies, the paper proposes a geometric centralised optionally anchor free algorithm that is based on clusterisation, multilateration and geodetic network adjustment. The method avoids foldambiguities by statistical tests on the robustness of the minimally stable structure in 3D. Such a rigid cluster is expanded by a novel robust approach for multilateration. The algorithm developed is capable of obtaining the least-squares solution reliably even in the presence of measurement noise levels of up to 7% of the ranges. Simulations with randomly deployed networks show that it is possible to reach the best achievable mean position deviation (i.e. the Cramer Rao bound).