Distributed Iterative Localization for Wireless Sensor Networks: A Barycentric Coordinates Approach With Angle Measurements

This paper investigates the distributed localization problem in wireless sensor networks by adopting the barycentric coordinate method based on angle measurement. First, all sensor nodes are divided into two categories: anchor nodes with known locations and non-anchor nodes with unknown locations. On this basis, each non-anchor node calculates its barycentric coordinates relative to its neighbor nodes through angle measurement technology, and constructs an iterative equation for location estimation based on the local information exchange mechanism. Subsequently, corresponding localization algorithms are designed for two typical network deployment scenarios: non-anchor nodes are distributed inside the convex hull of anchor nodes and randomly distributed outside the convex hull. By introducing the convergence analysis method of sub-stochastic matrix multiplication, it is theoretically proved that the proposed distributed iterative localization algorithm can achieve progressive and precise localization of non-anchor nodes in both above two network deployment scenarios. Finally, the effectiveness of the proposed method is verified by numerical simulation experiments. The results show that the method can achieve high localization accuracy in both above two types of sensor network structures.