AEF based localization method for WSNs with ranging and anchor position errors

Localization is an essential part in Wireless Sensor Networks (WSNs). In the ranging-based localization systems, both measurement distances and declared positions of anchor nodes may have errors because of the internal or external disturbance. Considering these two errors, a novel localization method based on the Adjustable Entropy Function (AEF) technique is proposed in this paper. AEF method is used to estimate the optimal solutions of non-differentiable optimization problems. In this paper, firstly an unconstrained nonlinear model is formulated based on the trilateration. Then by solving the minimal optimization problem of the model, the optimal locations of sensor nodes are obtained. Simulation results demonstrate the robustness and high localization accuracy of our method.