Abstract
This paper presents an implementation of acoustic ranging and proposes a distributed algorithm for localization of sensor network. Relative positions between sensor nodes are estimated based on acoustic ranging through the inverse Delaunay algorithm. This algorithm localizes all the nodes simultaneously, thus, the accumulation of the error in the localization is suppressed. Noise tolerant acoustic ranging algorithm that employs digital signal processing techniques is implemented in an off-the-shelf sensor platform (Mica2). Experiments show that this acoustic ranging algorithm is sufficient to give average range estimation error below 10 cm. Field experiment was conducted with twenty-one sensor nodes to evaluate the accuracy of the localization of the system.
