Self-Localization of IoT Devices Using Noisy Anchor Positions and RSSI Measurements

Abstract

Location-enabled Internet of things (IoT) has attracted much attention from the scientific and industrial communities given its high relevance in application domains such as agriculture, wildlife management, and infectious disease control. The frequency and accuracy of location information plays an important role in the success of these applications. However, frequent and accurate self-localization of IoT devices is challenging due to their resource-constrained nature. In this paper, we propose a new algorithm for self-localization of IoT devices using noisy received signal strength indicator (RSSI) measurements and perturbed anchor node position estimates. In the proposed algorithm, we minimize a weighted sum-square-distance-error cost function in an iterative fashion utilizing the gradient-descent method. We calculate the weights using the statistical properties of the perturbations in the measurements. We assume log-normal distribution for the RSSI-induced distance estimates due to considering the log-distance path-loss model with normally-distributed perturbations for the RSSI measurements in the logarithmic scale. We also assume normally-distributed perturbation in the anchor position estimates. We compare the performance of the proposed algorithm with that of an existing algorithm that takes a similar approach but only accounts for the perturbations in the RSSI measurements. Our simulation results show that by taking into account the error in the anchor positions, a significant improvement in the localization accuracy can be achieved. The proposed algorithm uses only a single measurement of RSSI and one estimate of each anchor position. This makes the proposed algorithm suitable for frequent and accurate localization of IoT devices.

Keywords: IoT; Multilateration; RSSI; Self-localization; Weighted least-squares.