A study of a less sensitive positioning method to forms of AP placements

This paper suggests the barycentric coordinates using closed-points (BCCP) algorithm to minimize the localization error caused by the forms of AP placements. The localization errors are analyzed for the two general forms of AP placements, which are triangular and straight-lined forms, considering various ranging errors. The analysis results of the proposed BCCP algorithm are compared with the Least-Square method for the performance analysis of the BCCP algorithms. As a result, the localization results have an average distance error of 48.8 m for applying the Least-Square method, and an average distance error of 4.28 m is obtained for the localization using the BCCP algorithm.