gps-free localization algorithm for wireless sensor networksgps-free为无线传感器网络定位算法.pdfVIP

Sensors 2010, 10, 5899-5926; doi:10.3390/s100605899 OPEN ACCESS sensors ISSN 1424-8220 /journal/sensors Article GPS-Free Localization Algorithm for Wireless Sensor Networks Lei Wang 1 and Qingzheng Xu 1,2,* 1 School of Computer Science and Engineering, Xi’an University of Technology, Xi’an 710048, China; E-Mail: leiwang@ 2 Xi’an Communication Institute, Xi’an 710106, China * Author to whom correspondence should be addressed; E-Mail: xuqingzheng@; Tel.: +86-29-8231-2220; Fax: +86-29-8231-2220. Received: 29 January 2010; in revised form: 26 April 2010 / Accepted: 20 May 2010 / Published: 9 June 2010 Abstract: Localization is one of the most fundamental problems in wireless sensor networks, since the locations of the sensor nodes are critical to both network operations and most application level tasks. A GPS-free localization scheme for wireless sensor networks is presented in this paper. First, we develop a standardized clustering-based approach for the local coordinate system formation wherein a multiplication factor is introduced to regulate the number of master and slave nodes and the degree of connectivity among master nodes. Second, using homogeneous coordinates, we derive a transformation matrix between two Cartesian coordinate systems to efficiently merge them into a global coordinate system and effectively overcome the flip ambiguity problem. The algorithm operates asynchronously wi