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In this paper, the target node localization problems based on hybrid RSS-AOA measurements in both noncooperative and cooperative three-dimensional (3-D) wireless sensor networks (WSNs) are discussed. By using novel error approximate expressions for both received signal strength (RSS) and angle-of-arrival (AOA) measurement models, new estimators based on the least squares (LS) criterion are proposed. These estimators can be transformed into mixed semi-definite programming (SDP) and second-order cone programming (SOCP) problems by applying convex relaxation techniques. In addition, the closed-form Cramer-Rao lower bound (CRLB) of the estimator on hybrid measurements in cooperative WSNs is also derived. Theoretical analysis and simulation results show that the Root Mean Square Error (RMSE) of the proposed hybrid RSS-AOA estimators is lower than that of the discussed estimators in both noncooperative and cooperative cases.

RSS-AOA-Based Localization via Mixed Semi-Definite and Second-Order Cone Relaxation in 3-D Wireless Sensor Networks