Optimised hybrid localisation with cooperation in wireless sensor networks

Muhammad Waqas Khan, Naveed Salman, Andrew Kemp

Research output: Contribution to journalArticlepeer-review

16 Citations (Scopus)
8 Downloads (Pure)


In this study, the authors introduce a novel hybrid cooperative localisation scheme when both distance and angle measurements are available. Two linear least squares (LLS) hybrid cooperative schemes based on angle of arrival-time of arrival (AoA-ToA) and AoA-received signal strength (AoA-RSS) signals are proposed. The proposed algorithms are modified to accommodate cooperative localisation in resource constrained networks where only distance measurements are available between target sensors (TSs) while both distance and angle measurements are available between reference sensors and TSs. Furthermore, an optimised version of the LLS estimator is proposed to further enhance the localisation performance. Moreover, localisation of sensor nodes in networks with limited connectivity (partially connected networks) is also investigated. Finally, computational complexity analysis of the proposed algorithms is presented. Through simulation, the superior performance of the proposed algorithms over its non-cooperative counterpart and the hybrid signal based iterative non-linear least squares algorithms is demonstrated.
Original languageEnglish
Pages (from-to)341-348
Number of pages8
JournalIET Signal Processing
Issue number3
Early online date22 Mar 2017
Publication statusPublished - 1 May 2017
Externally publishedYes


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