Robust cooperative node localization in wireless sensor networks

Node localization in mobile wireless sensor networks is a challenging task because of the changing environments and outlying sensor readings. A robust cooperative localization algorithm based on particle filter is proposed in this paper to deal with this non-Gaussian and non-linear estimation problem. Trace prediction, genetic crossover operation and node cooperation methods are used to optimize the particle quality and weight, so as to improve the localization accuracy of the algorithm. Only the inexpensive binary sensors are needed to provide observation information which makes the algorithm suit for almost every type of wireless sensor networks. Simulation results demonstrate that the proposed algorithm outperforms other classical localization methods while with low anchor node density.