In a wireless sensor network (WSN), node localization is a key requirement for many applications. The concept of mobile anchor-based localization is not a new concept; however, the localization of mobile anchor nodes gains much attention with the advancement in the Internet of Things (IoT) and electronic industry. In this paper, we present a range-free localization algorithm for sensors in a three-dimensional (3D) wireless sensor networks based on flying anchors. The nature of the algorithm is also suitable for vehicle localization as we are using the setup much similar to vehicle-to-infrastructure- (V2I-) based positioning algorithm. A multilayer C-shaped trajectory is chosen for the random walk of mobile anchor nodes equipped with a Global Positioning System (GPS) and broadcasts its location information over the sensing space. The mobile anchor nodes keep transmitting the beacon along with their position information to unknown nodes and select three further anchor nodes to form a triangle. The distance is then computed by the link quality induction against each anchor node that uses the centroid-based formula to compute the localization error. The simulation shows that the average localization error of our proposed system is 1.4 m with a standard deviation of 1.21 m. The geometrical computation of localization eliminated the use of extra hardware that avoids any direct communication between the sensors and is applicable for all types of network topologies.

中文翻译：

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3D无线传感器网络中基于V2X的移动本地化

在无线传感器网络（WSN）中，节点本地化是许多应用程序的关键要求。基于移动锚点的本地化的概念不是一个新概念。然而，随着物联网（IoT）和电子工业的发展，移动锚节点的本地化引起了人们的广泛关注。在本文中，我们提出了基于飞行锚的三维（3D）无线传感器网络中传感器的无范围定位算法。该算法的性质也适用于车辆定位，因为我们使用的设置与基于车辆到基础设施（V2I）的定位算法非常相似。选择多层C形轨迹用于配备全球定位系统（GPS）的移动锚点的随机行走，并在感测空间上广播其位置信息。移动锚节点继续将信标及其位置信息发送到未知节点，并选择另外三个锚节点以形成三角形。然后，通过使用基于质心的公式来计算定位误差的每个锚节点的链路质量归纳来计算距离。仿真表明，我们提出的系统的平均定位误差为1.4 m，标准偏差为1.21 m。本地化的几何计算消除了额外硬件的使用，从而避免了传感器之间的任何直接通信，并且适用于所有类型的网络拓扑。然后，通过使用基于质心的公式来计算定位误差的每个锚节点的链路质量归纳来计算距离。仿真表明，我们提出的系统的平均定位误差为1.4 m，标准偏差为1.21 m。本地化的几何计算消除了额外硬件的使用，从而避免了传感器之间的任何直接通信，并且适用于所有类型的网络拓扑。然后，通过使用基于质心的公式来计算定位误差的每个锚节点的链路质量归纳来计算距离。仿真表明，我们提出的系统的平均定位误差为1.4 m，标准偏差为1.21 m。本地化的几何计算消除了额外硬件的使用，从而避免了传感器之间的任何直接通信，并且适用于所有类型的网络拓扑。