Hybrid Localization Algorithm of Mobile Nodes in Wireless Sensor Networks

—To improve algorithm compatibility and reduce localization errors and node energy consumption, a hybrid localization algorithm of mobile nodes in wireless sensor networks (HLA) is proposed. In HLA, each mobile node analyzes the locations and number of adjacent stationary nodes. When a mobile node has detected that more than two adjacent stationary nodes exist, it will use energy localization algorithm to calculate its location coordinates. In other cases, the mobile node will use Beidou module to obtain its location coordinates. In the energy localization algorithm, maximum likelihood estimation algorithm is used to calculate energy location coordinates with RSSI values. And Kalman filter is used to filter the energy location coordinates. Finally, the current HLA location coordinates can be calculated based on movement distance and HLA location coordinates at last time. Simulation results show that whether in the area of 10m*10m or 20m*20m, our HLA can improve localization accuracy and control localization error within preferred range. Under certain conditions, our HLA outperforms Centroid Localization Algorithm (CLA) and Beidou Localization Method (BLM).