Reference node selection algorithm and localization error analysis for indoor sensor networks

In indoor environment, one of the major challenges for researchers is to localize the sensor nodes with relatively high localization precision. Many traditional positioning algorithms dealt with the node localization issues, such as two-phase positioning (TPP) algorithm, without taking into account the "reference node" parameter, however which also strongly affects the quality of spatial localization. We analyze the localization error and draw the conclusion that the localization error is the least when three reference nodes form an equilateral triangle. Therefore, we propose reference node selection algorithm based on trilateration (RNST). The simulation results show that our algorithm can meet real-time localization requirement of the mobile nodes in indoor environment, and make the localization error less than that of the traditional algorithm.