Wireless Sensor Network Localization in 3D using Steerable Anchors’ Antennas

Wireless sensor network localization plays an important role in mobile computing. Moreover, Sensor nodes are often deployed non-uniformly in anisotropic WSNs with holes in various applications such as monitoring area terrain. The existence of holes will invariably affect the Euclidean distances between nodes and result in low accuracy of node localization. The proposed algorithm is suitable for four different topologies, including the semi-C-shape topology, the O-shape topology, the multiple O-shape topology and the concave-shape topology and is exceedingly accurate and efficient comparing with state-of-the-art methods in anisotropic WSNs with holes. Our results show that the error in horizontal plane is less than 0.25 m while in the Z-axis is less than 0.5 m.