A recursive localization algorithm in three dimensional Wireless Sensor Networks

Localization technique is one of the crucial issues in Wireless Sensor Networks (WSNs). We proposed a recursive localization algorithm (RLA) especially for three-dimensional environment. In this work, the recursion of our method is followed in a determined and known direction. The RLA only requires three reference points to estimate a position of the unknown node. The localization approach can work in low density sensor networks. Simulation results show that, compared with other traditional localization algorithms, our proposed RLA can estimate the position of the unknown node with less computational resources and less beacon nodes, and also improve the error rate of localization.