Non-cooperative localization of binary sensors

We address the problem of non-cooperative localization of binary sensors in a field where the sensors are randomly deployed. The localization is based on the sensors' responses to radio-frequency signals transmitted by a beacon from a number of known locations in the field. The beacon travels along a known path in the sensor field, stops at predefined locations, emits a signal querying for sensors and finally collects measurements that represent responses to the query. We propose a method that uses the collected measurements for estimation of the unknown locations of the sensors. We also provide Cramer-Rao bounds of the estimates, and we demonstrate the performance of the method by computer simulations