Localization in 3D Wireless Sensor Networks with Obstacle Consideration

Algorithm 2

Location computation

Input: Location of beacons

Base station sends control message to beacons to start transmission

Beacons share control message among them

foreach do

  Transmit data messages containing location information

end

foreach nodedo

  ifnode receives a messagethen

   ifduplicate messagethen

    Discard message

  else

    Update info table

    ifthen

     Compute x and y

     If successfully computed,

      computed = 1

     Compute z

     ifcomputed = = 1then

      retransmit and goto sleep

     else

      wait for message

     end

    end

   end

  end

end