POPA: localising nodes by splitting PLA with NTH-HOP anchor neighbours

A novel distributed range-free localisation algorithm, named polygonal overlapped possible area (POPA), is proposed to accurately localise an unknown node. First, for an unknown node, to theoretically define its possible localisation area (PLA), virtual radiation regions of its n th-hop anchor neighbours are introduced. Then an effective area-splitting algorithm is employed to simplify and speed up the computation of the possible localisation area. Simulation shows localisation error can be controlled within 20% with off-the-shelf devices.