Range-free localization algorithm continues to be an important and challenging\r\nresearch topic in anisotropic Wireless Sensor Networks (WSNs). Designing range-free\r\nlocalization algorithms without considering obstacles or holes inside the network area\r\ndoes not reflect the real world conditions. In this paper, we have proposed Detour Path\r\nAngular Information (DPAI) based sensor localization algorithm to accurately estimate the\r\ndistance between an anchor node and a sensor node. We utilized the Euclidean distance and\r\ntransmission path distance among anchor nodes to calculate the angle of the transmission\r\npath between them one by one. Then the estimated hop distance is adjusted by the angle\r\nbetween the anchor pairs. Based on the angle of the detoured path (which is the key factor for\r\naccuracy), our algorithm determines whether the path is straight or detoured by anisotropic\r\nfactors. Our proposed algorithm does not require any global knowledge of network topology\r\nto tolerate the network anisotropy nor require high sensor node density for satisfactory\r\nlocalization accuracy. Extensive simulations are performed and the results are observed to be\r\nin good agreement with the theoretical analysis. DPAI achieved average sensor localization\r\naccuracy better than 0.3r in isotropic network and 0.35r in anisotropic network when the\r\nsensor density is above 8.
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