Linear antenna array, ranging and accelerometer for 3D GPS-less localization of wireless sensors

Localization algorithms for wireless sensors can use diverse measurement hardware as a source of geographical information in order to provide better location estimates. A relatively extensive set of measurement hardware comprises of machinery capable of measuring range, angle-of-arrival and earth gravity direction. Literature covers distance vector (DV) exchange algorithms for the measurements which provide the complete distance vector. In this work we develop a method for computing the complete DV in a distributed way, using linear antenna array and ranging to calculate a complete DV. We develop a localization algorithm that uses this concept. We also determine pathological situations of flip-error occurrence, but we incorporate this knowledge into the algorithm so that we prevent the flip-errors from occurring.