On Proximity-Based Range-Free Node Localisation in Wireless Sensor Networks

A new centroid formula for range-free sensor node location estimation using the proximity anchor positions is proposed. A detailed statistical analysis of the estimator is presented in one-dimension, taking into account the boundary conditions. The estimator is optimal in the minimum-mean square error sense for the one-dimensional case and outperforms the averaging centroid formula for N>2, where N is the number of proximity anchors