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Location-based applications for security and assisted living, such as human location tracking, pet tracking and others, have increased considerably in the last few years, enabled by the fast growth of sensor networks. Sensor location information is essential for several network protocols and applications such as routing and energy harvesting, among others. Therefore, there is a need for developing new alternative localization algorithms suitable for rough, changing environments. In this paper, we formulate the Recursive Localization (RL) algorithm, based on the recursive coordinate data fusion using at least three anchor nodes (ANs), combined with a multiplane location estimation, suitable for 3D ad hoc environments. The novelty of the proposed algorithm is the recursive fusion technique to obtain a reliable location estimation of a node by combining noisy information from several nodes. The feasibility of the RL algorithm under several network environments was examined through analytic formulation and simulation processes. The proposed algorithm improved the location accuracy for all the scenarios analyzed. Comparing with other 3D range-based positioning algorithms, we observe that the proposed RL algorithm presents several advantages, such as a smaller number of required ANs and a better position accuracy for the worst cases analyzed. On the other hand, compared to other 3D range-free positioning algorithms, we can see an improvement by around 15.6% in terms of positioning accuracy.

Localization Algorithm for 3D Sensor Networks: A Recursive Data Fusion Approach