Geometric Buildup Algorithms for Sensor Network Localization

Algorithm 4

The two-phase geometric buildup algorithm.

Input: The positions of the anchors, the distances 𝑑_𝑖,𝑗,(𝑖,𝑗)∈𝑁_𝑥∪𝑁_𝑎.

Output: The positions of a set of determined sensors.

Step 1: Phase 1:

    Set the anchors to be the initial set of sensors.

    Apply the extended geometric buildup algorithm.

Step 2: If the percentage of the undetermined sensors is greater than TH.

    Phase 2:

     Find and determine an initial set of sensors.

     Apply the extended geometric buildup algorithm.

Step 3: Align the sensors determined in the two phases.