Dynamic localization of air-ground wireless sensor networks

A novel approach for relative and absolute localization of wireless sensor nodes using a potential field method is presented. A dynamical model is presented for the position estimates for relative and absolute localization. The control input for the dynamical estimator system is derived using the concept of potential field. The convergence of the estimator system to a least squares solution is guaranteed using Lyapunov theory. Separate control algorithms for relative and absolute localization are developed which guarantee the convergence of the position estimates. The effectiveness of the control algorithm is highlighted by the simulation results presented.