A Secure Localization Approach Using Mutual Authentication and Insider Node Validation in Wireless Sensor Networks

Algorithm 2

Validation of distance estimation and detection of malicious anchors by BS.

Input. Set of anchor nodes A with locations , location estimate of an unknown node , error parameter

Step 1. ,

If  

then exit

else go to Step

Step 2. calculate the algebraic centre of intersection region

Step 3. Initialize //radius of the intersection region as

Step 4. inside the region do

    if

   then

   end if

Step 5. ,   do

Step 6. if then

     Anchor node is malicious

   else

      is not malicious

Step 7. end if