Localization with imprecise distance information in sensor networks

Abstract — An approach to formulate geometric relations among distances between nodes as equality constraints is introduced in this paper to study the localization problem with imprecise distance information in sensor networks. These constraints can be further used to formulate opti-mization problems for distance estimation. The optimiza-tion solutions correspond to a set of distances that are consistent with the fact that sensor nodes live in the same plane or 3D space as the anchor nodes. These techniques serve as the foundation for most of the existing localization algorithms that depend on the sensors ’ distances to anchors to compute each sensor’s location. I