Distributed range-free localization algorithm in wireless sensor networks for 3D space

To solve the node localization problem for wireless sensor networks deployed in stereoscopic environments, a novel three-dimensional distributed range-free localization algorithm (3D-DRL) was proposed. Based on the grid-based representation and after voting for each cubic cell, 3D-DRL assumed the centroid of cells with highest votes as the estimated location of that unknown node. The scheme avoids the interaction between unknown nodes, costs lower communication overhead, is independent of the anchor node density and robust to the network topology. Simulation results under ideal radio propagation model indicate that the average localization error is 8% when all nodes are randomly deployed in 100 m×100 m×100 m scenarios with 50 m communication range of the unknown node. Especially, all unknown nodes can localize themselves by increasing V_ANR.