Simulation study on cooperative localization

Traditional algorithms are explained theoretically without provement from the actual simulation, resulting in many non-locatable nodes and selection problems of the proportion of anchor nodes in wireless sensor network. Against these problems, three typical algorithms that start from collaborative localization are simulated in the following two scenarios to compare their performance. The first scenario combines the anchor nodes and blind nodes localized by anchor nodes to localize other blind nodes, while the other blind nodes preferentially localize their position through anchor nodes. Otherwise, blind nodes knowing their position participate in localization only if there aren't anchor nodes less than three. Large simulation results show that the second performs better than first in term of localization error and the number of non-locatable nodes under the same condition. Moreover, the optimal solution is provided for the proper selection of the anchor nodes.