Accurate acoustic energy-based localization with beacon position uncertainty in wireless sensor networks

Energy signal levels received at multiple beacon sensors are proportional to the distances that the signals have traveled to reach the sensors, so the sensor of acoustic source can be uniquely located. Transforming the nonlinear equations to linear equations, LLS, ULSC and CLSC algorithms are all algebraic closed-form solutions for acoustic energy-based localization. We apply these algorithms to acoustic energy-based localization and propose the corresponding best linear unbiased estimator with certain or uncertain beacon positions. The simulations show that LLS and ULSC algorithms have the same position accuracy. Compared with the inferior performance of LLS and ULSC algorithms, CLSC algorithm can attain the position CRLB which provides optimal position accuracy.