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Error analysis of quantised RSSI based sensor network localisation

Localising sensor nodes is an essential process for self-organising Wireless Sensor Networks (WSNs). A few recently-proposed localisation algorithms use Received Signal Strength Indication (RSSI) readings usually available in WSNs for node localisation. However, the behaviours of RSSI-based localisation systems have not been thoroughly investigated. In this paper, we formulate the problem of localisation using quantised RSSI as a parameter estimation problem and derive the Cramer-Rao Lower Bound (CRLB) for the localisation problem. We then study the effect of quantisation level and network configuration parameters on the lower bound of localisation error variance.