A new NLOS TOA-based wireless sensor network localization algorithm with robust character

It is important to find a localization algorithm robust to non-line-of-sight (NLOS) propagation errors in wireless sensor network (WSN). A novel TOA-based localization algorithm with the methods of Optimized Residual Weighting(ORwgh)is presented by analyzing some new localization algorithms, combined with the consideration of the application environments of the network, the energy consumption of nodes, the amount of computation and communication, and the location accuracy etc. By picking out the subsets of range measurements with minimum Normaliced Residual Square and then calculating the weighted mean, it can use the range measurements efficiently. When the number of range measurements is larger than 4, this algorithm needs less amount of computation than Residual Weighting Algorithm and gets almost the same performance. Simulation results show that it is robust to NLOS errors and provide quite well location accuracy.