Achieving Network Localizability in Nonlocalizable WSN with Moving Passive Event

Localization is an essential service in most of the wireless sensor network (WSN) applications. This paper focuses on utilizing the moving passive event to achieve the network localizability in an initially nonlocalizable network. The hybrid TDOA and distance measurement is firstly used in the network localizability. We propose the sufficient conditions in terms of node localizability and network localizability, respectively. Besides, a more promising TDOA estimation approach, which is approximately synchronization-free, is proposed to well support our localization approach. We design a corresponding algorithm in distributed manner for the implementation of our approach. Compared with the current works, our approach requires no extra hardware cost and any adjustment of the current topology of the network and hence is more feasible in practice. We evaluate the performance of our approach via extensive simulations on a one-thousand-node network. Simulation results show that our TDOA estimation approach achieves the accuracy of 0.1 milliseconds. More than 90% nodes can be localized within 0.04 r , where r denotes the ranging radius of a sensor