Robust Positioning Algorithms for Distrib uted

A distributed algorithm for determining the positions of nodes in an ad-hoc, wireless sensor network is explained in detail. Details regarding the implementation of such an algorithm are also discussed. Experimentation is performed on networks containing 400 nodes randomly placed within a square area, and resulting error magnitudes are represented as percentages of each node's radio range. In scenarios with 5% errors in distance measurements, 5% anchor node population (nodes with known locations), and average connectivity levels between neighbors of 7 nodes, the algorithm is shown to have errors less than 33% on average. It is also shown that, given an average connectivity of at least 12 nodes and 10% anchors, the algorithm performs well with up to 40% errors in distance measurements.

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