Msdr-D Network Localization Algorithm

We present a distributed multi-scale dead-reckoning (MSDR-D) algorithm for network localization that utilizes local distance and angular information for nearby sensors. The algorithm is anchor-free and does not require particular network topology, rigidity of the underlying communication graph, or high average connectivity. The algorithm scales well to large and sparse networks with complex topologies and outperforms previous algorithms when the noise levels are high. The algorithm is simple to implement and is available, along with source code, executables, and experimental results, at http://msdr-d.cs.arzona.edu/.