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Self-Localization for Mobile Sensor Networks with Bearing Measurements in Local Coordinate System

The localization problem of wireless sensor networks has been widely concerned by researchers. This paper addresses the self-localization problem of mobile wireless sensor networks with a single anchor based on bearing-only measurements in local coordinate system, which aims to localize the mobile network nodes in global coordinate system by bearing measurements and communication in the absence and presence of neighbor free nodes. Firstly, we analyze the situation of isolated nodes and propose a self-localization algorithm of the sensor nodes without neighbor free nodes. Secondly, we study the self-localization algorithm in the presence of neighbors, prove the sufficient conditions of localizing each other in local coordinate system for free nodes, and the measurement information of neighbor nodes is added to the self-localization algorithm. Then we prove that the self-localization algorithm is convergent. Finally, the convergence and robustness of the algorithm are verified by numerical simulation.