ADNL-Angle: Accurate Distributed Node Localization for Wireless Sensor Networks with Angle of Arrival Information

This paper deals with the collaborative multi-hop localization problem in static Wireless Sensor Networks with Angle of Arrival information. We present ADNL-Angle, a new, original and efficient localization algorithm. Our method uses a small set of sensors which know their positions, it also uses the 2-hop neighborhood knowledge and angular information between neighbor nodes computed thanks to AoA technology. Each node with enough anchors in its neighborhood locally runs a kind of force-based algorithm so as to localize itself, and then forward its position to enable other nodes to locate themselves. We also propose an additional delaying mechanism to increase localization accuracy. We provide extensive simulation results showing the accuracy and the robustness of ADNL-Angle even with noisy angular measurements, few anchor nodes and realistic topologies.