Cooperative localization using airborne mobile and local anchors

Locating fixed sensing devices with a mobile anchor is attractive for covering larger deployment areas. However, due to the distribution of nodes within this area, a possibility of nodes having insufficient beacon message to localize their position is higher. Therefore, localization using new Received Signal Strength Indicator (RSSI)-based localization algorithm, which uses a volumetric probability distribution function with cooperative localization technique is proposed to find the relative localization performance of adding inter-blind node range estimates to anchor estimates. This paper presents the guidelines for mobile anchor’s operational requirements based on the number of beacon selection, beacon’s spacing and node density, as a trade-off between the energy costs of travelling versus the localization accuracy with a minimum number of localization generations.Locating fixed sensing devices with a mobile anchor is attractive for covering larger deployment areas. However, due to the distribution of nodes within this area, a possibility of nodes having insufficient beacon message to localize their position is higher. Therefore, localization using new Received Signal Strength Indicator (RSSI)-based localization algorithm, which uses a volumetric probability distribution function with cooperative localization technique is proposed to find the relative localization performance of adding inter-blind node range estimates to anchor estimates. This paper presents the guidelines for mobile anchor’s operational requirements based on the number of beacon selection, beacon’s spacing and node density, as a trade-off between the energy costs of travelling versus the localization accuracy with a minimum number of localization generations.