RH+: A hybrid localization algorithm for Wireless Sensor Networks

Today, localization of nodes in Wireless Sensor Networks (WSNs) is a challenging problem. Especially, it is almost impossible to guarantee that one algorithm giving optimal results for one topology will give optimal results for any other random topology. In this study, we propose a centralized, range- and anchor-based, hybrid algorithm called RH+ that aims to combine the powerful features of two orthogonal techniques: Classical Multi-Dimensional Scaling (CMDS) and Particle Spring Optimization (PSO). As a result, we find that our hybrid approach gives a fast-converging solution which is resilient to range-errors and very robust to topology changes. Across all topologies we studied, the average estimation error is less than 0.5 m. when the average node density is 10 and only 2.5% of the nodes are beacons.