Heuristic Localization Algorithm with a Novel Error Control Mechanism for Wireless Sensor Networks with Few Anchor Nodes

Algorithm 1

Initialization phase for anchor nodes.

Input: Number of initial Pseudo-anchor n_init

Define: HopInfo Packet HIP = {ID, position, hopInfo}

     NeighborInfo Packet NIP = {ID₁,⋯, ID_{n_init}}

     Neighbor RSSI List NRL = [ID_i, RSSI_i]

     Neighbor Distance List NDL = [ID_i, d_i]

Procedures:

1: send an HIP

2: while not time up:

3: if received an HIP:

4:  parse the HIP to obtain ID, position, hopInfo

5:  obtain the RSSI

6:  ifhopInfo is equal to 1:

7:   append [ID, RSSI] to NRL

8:   reset the timer

9:  else:

10:   pass

11: end while

12: fori from 1 to sizeof(NRL):

13: estimate d_i based on RSSI_i by Eq. (1)

14: append [ID_i, d_i] to NDL

15: endfor

16: sort NDL by d_i in ascending

17: if sizeof (NDL) > n_init:

18: set NIP equal to the first n_init IDs in NDL

19: else:

20: set NIP equal to the IDs in NDL

21: send an NIP