Mobile-Assisted Localization by Stitching in Wireless Sensor Networks

In most mobile-assisted localization schemes, mobile anchors follow predefined or random trajectories to send beacon messages around. Although working well in regular and uniform networks, predefined or random trajectories lead to wasted efforts in irregular and non-uniform deployment. We propose a novel scheme of trajectory design by utilizing the topology information of the network. Based on rigidity theory, the original network is first partitioned into localization units as localizable subnets or orphan nodes. The shortest path traversing all localization units is then chosen as the trajectory of the mobile anchor. Simulations show that the new scheme avoids unnecessary movements in blank areas and travels at much shorter path than the classic SCAN scheme.