Angle and ranging based localization method for ad hoc network

In ad hoc sensor networks, it is very essential for sensors to know their own positions exactly which provide the context to sensed data. Sensors in ad hoc sensor networks enable to locate their positions from a relatively small number of landmarks that know their coordinates through external means (e.g., GPS). In this paper, we assume that sensor nodes can measure the distances and relative bearings to neighboring nodes within their transmission range. The proposed method will utilize the distances and relative bearings to find the locations of nodes. Firstly, sensors nearest landmarks will locate their position and then in order nodes more hops far from landmark will. We utilize many landmark coordinates and multiple paths to a landmark to improve the accuracy of the position. Simulation results under the various conditions have been obtained and especially compared with the results using DV-hop and DV-distances.