DCRL-WSN: A distributed cooperative and range-free localization algorithm for WSNs

A low cost fully distributed wireless sensor network localization method, with good accuracy is presented in this article. DCRL-WSN specifies a ball-shaped extended bound to the imprecise estimated location of each target node. Also, a new certainty criterion for estimation is dedicated to each target node, which using this criterion the extended bounds of target nodes are shrunk, iteratively. Through the use of extended bounds for target nodes and communication ranges of anchor nodes, bounding box area is estimated for each target node through solving two constrained convex optimization problems, iteratively. It is proved here that this algorithm converges after finite number of iterations. Also, experimental results of many simulations will reveal that this proposed algorithm outperforms six other well-known range-free methods in homogeneous and heterogeneous WSNs.