Robust Time-Based Localization for Asynchronous Networks

Time-based localization approaches attract a lot of interest due to their high accuracy and potentially low cost for wireless sensor networks (WSNs). However, time-based localization is tightly coupled with clock synchronization. Thus, the reliability of timestamps in time-based localization becomes an important yet challenging task to deal with. In this paper, we propose robust time-based localization strategies to locate a target node with the help of anchors (nodes with known positions) in asynchronous networks. Two kinds of asynchronous networks are considered: one only with clock offsets, labeled quasi-synchronous networks, whereas the other with not only clock offsets but also clock skews, labeled fully asynchronous networks. A novel ranging protocol is developed for both networks, namely asymmetric trip ranging (ATR), to reduce the communication load and explore the broadcast property of WSNs. Regardless of the reliability of the timestamp report from the target node, closed-form least-squares (LS) estimators are derived to accurately estimate the target node position. As a result, we counter the uncertainties caused by the target node by ignoring the timestamps from this node. Furthermore, in order to simplify the estimator in fully asynchronous networks, localization and synchronization are decoupled. A simple yet efficient method is proposed to first Calibrate the Clock Skews of the anchors, and then Estimate the Node Position (CCS-ENP). Finally, Cramér-Rao bounds (CRBs) and simulation results corroborate the efficiency of our localization schemes.