Localization in wireless sensor networks: A probabilistic approach

In this paper we consider a probabilistic approach to the problem of localization in wireless sensor networks and propose a distributed algorithm that helps unknown nodes to determine confident position estimates. The proposed algorithm is RF based, robust to range measurement inaccuracies and can be tailored to varying environmental conditions. The proposed position estimation algorithm considers the errors and inaccuracies usually found in RF signal strength measurements. We also evaluate and validate the algorithm with an experimental testbed. The test bed results indicate that the actual position of nodes are well bounded by the position estimates obtained despite ranging inaccuracies.