This paper proposes a distributed localization algorithm which can be applied to an irregular three-dimensional wireless sensor\nnetwork, considering the algorithm accuracy and complexity. The algorithm uses clusters to eliminate the multi hop distance\nerrors. An anchor node position optimization scheme is proposed to maximize the uniformity of each sub network. The proposed\nalgorithm also employs a new three-dimensional coordinate transformation algorithm, which helps to reduce the errors introduced\nby coordinate integration between clusters and improves the localization precision. The simulation and performance analysis\nresults show that the localization accuracy of the D3D-MDS algorithm increases by 49.1% compared with 3D-DV-HOP and 38.6%\ncompared with 3D-MDS-MAP. This distributed localization scheme also demonstrates a low computational complexity compared\nwith other centralized localization algorithms.
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