Table of Contents
ISRN Sensor Networks
Volume 2013, Article ID 252056, 7 pages
Research Article

Combining Kalman Filtering with ZigBee Protocol to Improve Localization in Wireless Sensor Network

LTI Laboratory, National School of Applied Sciences of Tangier—ENSAT, Abdelmalek Essaadi University, Tangier 90000, Morocco

Received 23 December 2012; Accepted 22 January 2013

Academic Editors: M. Brandl and A. Song

Copyright © 2013 Bouchra El Madani et al. This is an open access article distributed under the Creative Commons Attribution License, which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited.


We propose a low-cost and low-power-consumption localization scheme for ZigBee-based wireless sensor networks (WSNs). Our design is based on the link quality indicator (LQI)—a standard feature of the ZigBee protocol—for ranging and the ratiometric vector iteration (RVI)—a light-weight distributed algorithm—modified to work with LQI measurements. To improve performance and quality of this system, we propose three main ideas: a cooperative approach, a coefficient delta ( ) to regulate the speed of convergence of the algorithm, and finally the filtering process with the extended Kalman filter. The results of experiment simulations show acceptable localization performance and illustrate the accuracy of this method.