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In this work, the problem of localizing ground devices (GDs) is studiedcomparing the performance of four range-free (RF) localization algorithms thatuse a mobile anchor (MA). All the investigated algorithms are based on theso-called heard/not-heard (HnH) method, which allows the GDs to detect the MAat the border of their antenna communication radius. Despite the simplicity ofthis method, its efficacy in terms of accuracy is poor because it relies on theantenna radius that continuously varies under different conditions. Usually,the antenna radius declared by the manufacturer does not fully characterize theactual antenna radiation pattern. In this paper, the radiation pattern of thecommercial DecaWave DWM1001 Ultra-Wide-Band (UWB) antennas is observed in areal test-bed at different altitudes for collecting more information andinsights on the antenna radius. The compared algorithms are then tested usingboth the observed and the manufacturer radii. The experimental accuracy isclose to the expected theoretical one only when the antenna pattern is actuallyomnidirectional. However, typical antennas have strong pattern irregularitiesthat decrease the accuracy. For improving the performance, we proposerange-based (RB) variants of the compared algorithms in which, instead of usingthe observed or the manufacturer radii, the actual measured distances betweenthe MA and the GD are used. The localization accuracy tremendously improvesconfirming that the knowledge of the exact antenna pattern is essential for anyRF algorithm.

A Comprehensive Investigation on Range-free Localization Algorithms with Mobile Anchors at Different Altitudes