Set-membership localisation algorithm based on adaptive error bounds for largescale underwater wireless sensor networks

Proposed is a new set-membership approach based on adaptive error bounds to solve multi-hop localisation problems in the cases where the prior information is insufficient and only a very few distance measurements are available, which are commonly encountered in large-scale underwater wireless sensor networks. Unlike most of the existing schemes, the localisation problem is solved in a set-membership framework which is based on the consideration that the distance measurement uncertainty can be cast into an unknown but bounded context. For the first time, an adaptive bounds specification is introduced into multi-hop localisation for eliminating the risk of overbounding or underbounding. To reduce the computational burden, boxes are utilised to approximate the irregular intersection of all feasible solutions. Then the feasible sets and coordinates of ordinary nodes are obtained by using the interval analysis method. Simulation results confirm the effectiveness of the algorithm.