Alexandria Engineering Journal (2022) 61, 5595–5606

H O S T E D BY
Alexandria University

Alexandria Engineering Journal

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www.sciencedirect.com

A Novel Single Anchor Localization Method for

Wireless Sensors in 5G Satellite-Terrestrial
Network
Sohaib Bin Altaf Khattak a,b,*, Min Jia a, Mohamed Marey b,
Moustafa M. Nasralla b,*, Qing Guo a, Xuemai Gu a

a
Communication Research Center, School of Electronics and Information Engineering, Harbin Institute of Technology,
Harbin 150001, China
b
Smart Systems Engineering Laboratory, College of Engineering, Prince Sultan University, Riyadh 11586, Saudi Arabia

Received 12 October 2021; revised 13 November 2021; accepted 26 November 2021

Available online 23 December 2021

KEYWORDS
Internet of things;
Localization;
Location based services;
Satellite based IoT;
Sensors positioning
Abstract Satellites extend the 5G Internet of Things (IoT) applications to remote areas by provid-
ing global coverage. In applications like environmental and wildlife monitoring, the location infor-
mation of IoT sensors is equally important as the data itself. This location information can also be
utilized for spectrum management between the satellite and IoT networks. The localization is per-
formed using nodes with known positions called anchor nodes (ANs). Optimization analysis of ANs
significantly enhance the localization performance. In this paper, we propose a single AN-based
localization algorithm for wireless sensors. The proposed localization approach uses directional
information and mobility, focusing on finding the shortest path with only two beacon points. Sim-
ulation results demonstrate the superiority of the proposed localization algorithm over the state of
the art approaches.
Ó 2021 THE AUTHORS. Published by Elsevier BV on behalf of Faculty of Engineering, Alexandria
University This is an open access article under the CC BY license (http://creativecommons.org/licenses/by/
4.0/).

1. Introduction

After the emergence of Internet of Things (IoT) and 5G, many

* Corresponding authors at: Smart Systems Engineering Laboratory, new areas have opened up covering a wide range of applica-
College of Engineering, Prince Sultan University, Riyadh 11586, Saudi tions [1,2]. Wireless sensor networks (WSN) is one of such
Arabia. technologies which can facilitate a huge number of real-
E-mail addresses: sohaib.bin.altaf@hotmail.com (S.B. Altaf Khattak), world problems, in both urban and rural environments[3,4],
jiamin@hit.edu.cn (M. Jia), mfmmarey@psu.edu.sa (M. Marey), like environmental monitoring, security and surveillance,
mnasralla@psu.edu.sa (M.M. Nasralla), qguo@hit.edu.cn (Q. Guo), remote monitoring, battlefield applications, tracking of both
guxuemai@hit.edu.cn (X. Gu). objects and living beings etc. In such scenarios, a large number
Peer review under responsibility of Faculty of Engineering, Alexandria of sensors are deployed in the area of interest and this
University.
https://doi.org/10.1016/j.aej.2021.11.061
1110-0168 Ó 2021 THE AUTHORS. Published by Elsevier BV on behalf of Faculty of Engineering, Alexandria University
This is an open access article under the CC BY license (http://creativecommons.org/licenses/by/4.0/).
5596
deployment of sensors does not follow any specific pattern, but
it can be completely random. The data measured by the sen-
sors is then forwarded to the remote data center where this
data is processed and analyzed to fulfil the purpose of this
deployment [5–7]. In such scenarios, two problems are
required to be solved, i.e., (1) localization of individual sensors
deployed in the sensing field, and (2) assigning a proper band-
width and spectrum resources to transfer this data to the data
center.
In many situations, the location information of the sensing
device is equally important as the data itself [8,9]. In this work,
we consider those areas which lack the terrestrial communica-
tion infrastructure. Remote areas, forests, deserts, oceans, and
similar extreme topographies have no terrestrial communica-
tion. These areas can be of no or less importance to the terres-
trial network providers or may cost a lot for building a
dedicated infrastructure. Similarly, disaster-struck areas are
to be counted if the terrestrial communication infrastructure
is damaged by a flood or an earthquake. Here comes the satel-
lite communication network, which can cover all such areas
[10–14]. Satellite communication infrastructure can provide
coverage in these situations, irrespective of the problems faced
by terrestrial networks. Low Earth Orbit (LEO) satellites are
more suitable for such scenarios because of low latency and
mass production [6,15–18].
1.1. Satellite Supported IoT networks
The system architecture of such networks includes a dense set
of sensors, which can be heterogeneous and generate different
kinds of data. This data needs to be transferred to the control
center via suitable communication technologies, which is the
LEO satellite network in our considered scenario. The connec-
tion between sensors and satellites can be either direct or indi-
rect. As the name indicates, in the direct access the sensors or
actuators directly communicate with the satellite in the uplink.
The indirect access, data is sent via a sink node. To transfer
this massive amount of data, a dedicated spectrum resource
will be required, bringing an additional cost to this system.
Recently the terrestrial and satellite spectrum shared networks
have attracted much attention from industry and academia
and are considered an essential element of 5G networks [19].
It can significantly increase the spectrum utilization for high-
demand 5G applications. This problem of spectrum assign-
ment is solved using Cognitive Radio (CR) technology. The
objective of this technology is to share the spectrum resources
between different systems [20–25]. The licensed owner of the
spectrum is the satellite network, which can share its spectrum
with the sensors network [26]. There are periods where the
satellite spectrum is free over a specific geographical region
for a certain amount of time. By spectrum sharing, the satellite
network allows the sensor network to use its spectrum when it
is vacant. The satellite network is the licensed user and is also
called the primary user (PU), and the sensor network is called
the secondary user (SU) or cognitive user. In cognitive radios,
different approaches are used to access the spectrum, avoiding
any interference between primary and secondary users. The SU
either senses the PU channel to check if the spectrum is vacant
and available for transmission, or this spectrum availability is
checked by involving a database, which has the spectrum avail-
ability information according to the time and location. The
S.B. Altaf Khattak et al.
SUs have to inform the geolocation database (GLDB), and
the database in return provides the information of the avail-
able spectrum [27–30]. So the secondary users must have the
geolocation capability and must be able to access the database
over the internet. The SUs can not use the spectrum until the
GLDB permits them to use a certain channel over a certain
time. The GLDB can be considered as a better approach when
compared to spectrum sensing. Spectrum sensing can have
uncertainties and difficulties, which will lead to inefficient spec-
trum management [31]. The concept of GLDB for satellite
spectrum is the same as for the TV White Spaces [32]. The
radio spectrum availability is mapped over the geographical
environment by a unit of 100 m by 100 m in many cases
[33]. Licensed shared access is an example of database-
assisted spectrum management. The PUs provide all the rele-
vant information to the database, and the SUs obtain the
details of the available channels upon providing their current
geographical location. Fig. 1 shows the considered scenario
in detail.
1.2. Motivation
Traditionally the location information in the WSNs, as the one
considered in this paper, is used for purely localization and
tracking purposes of the device or object. This location infor-
mation is further used for value-added services connected to
the data collected, in other words, Location-Based Services
(LBS). After the emergence of GLDB assisted spectrum shar-
ing, this location information can also be used for spectrum
management [34,35]. Other potential uses of this location
information can be routing, network security, network opti-
mization, etc. To obtain the location information from the sen-
sor devices, a GPS module can be installed in each device,
providing this information to a satisfactory level. However,
it is not realistic because it will increase the cost of the system
hundreds of times. Installing GPS in every sensor node is
expensive and will also lead to high energy consumption.
Hence, alternative localization techniques are required to
localize all the available sensors.
In such scenarios, a small number of the sensors are equipped
with GPS receivers, which can assist the other sensor nodes
(SNs) find their locations. The nodes having a GPS module
Fig. 1 Spectrum sharing between satellite network and remotely
installed IoT network.
A novel single anchor localization method for wireless sensors
installed are called Anchor Nodes (ANs) [8], and are connected
and synchronized with all other SNs. In literature, the AN-based
localization methods can be divided into range-based, or range-
free localization techniques [9]. Range-based techniques are a
better choice for the type of scenarios considered in this paper.
Received Signal Strength (RSS), Time of Arrival (ToA), Time
Difference of Arrival (TDOA), and Angle of Arrival (AoA)
are some of the parameters used in distance and position estima-
tion [8]. Trilateration is the most popular and widely used range-
based localization technique [36] and RSS is the most widely
used parameter for distance calculations [37]. As explained
above, the cost of the AN is hundreds of times that of an SN,
so the fewer ANs we have, the more cost-efficient system we
can prepare. However, it also affects the localization accuracy,
so in literature, to handle this problem, mobile ANs are pro-
posed. The Mobile anchor nodes (MANs) move in the area of
interest and send beacons carrying its location information to
the SNs. The MANs can save the deployment cost by not using
so many ANs, and by designing a movement trajectory and an
efficient localization methodology can help improve the local-
ization accuracy [38,39].
1.3. Contribution
A single anchor node-based localization technique is proposed
to provide accurate location information for outdoor sensor
networks, which can be used for location-based services and
intelligent spectrum management. An optimization analysis is
performed to utilize just a single anchor for the localization
of sensor nodes with the simplest moving trajectory and a min-
imum number of beacon points. The network architecture con-
sidered here consists of a sensor network spread over a wide
geographical area. There are different clusters of sensor nodes
that are connected to a cluster head having a GPS receiver that
acts as AN. Each cluster has only one AN, and the sensors are
localized using a single anchor node. The cluster head AN col-
lects the localization information and passes it to a gateway
node, which coordinates with the geolocation database. When
the available spectrum is finalized, the sensor nodes transfer
the sensed data to the remote server using satellite spectrum.
An optimal movement trajectory is investigated, and distance
measurements are performed using RSS. The sensor network
consists of several clusters, having different application pur-
poses. The main contributions of this paper can be stated as:
1. A single Anchor based localization strategy for wireless
sensor networks.
2. A framework for intelligent spectrum management using
localization information.
3. An optimal trajectory for mobile anchor node.
The rest of the article is organized as follows. Section 2
describes the literature review, Section 3 explains the system
model, Section 4 presents the proposed technique, Section 5
discusses the simulation results, and Section 6 concludes the
article.
2. Literature review
In this section, we present state of the art in mobile and single
anchor-based localization techniques. The popular trajectories
5597
proposed for mobile anchor nodes in the literature are SCAN,
HILBERT[40], CIRCLE, and S-Curve[41]. Here we present
some more single anchor node-based and mobile anchor
node-based techniques from recent literature. A mobile anchor
node-based localization algorithm is proposed by [42] for
WSNs, it uses a single directional antenna and considers the
directional antenna’s radiation pattern. The beacon is broad-
casted periodically while the AN moves around the sensing
field on the x-axis and y-axis. While the AN travels the median
beacon is taken for distance calculation.The nodes are local-
ized using a cluster approach wherethe clusters are formed
based on minimum, maximum and mean values of coordinate
estimates.
In [43] also mobile anchor node based on directional anten-
nas is proposed. However, opposite to work in [42] here, the
anchor node carries four directional antennas. Here also, the
median RSS value from the received beacons is used to calcu-
late the location. The work in [44] also uses directional anten-
nas in a mobile anchor node, where a MAN moves from one
point to another, broadcasting beacons. The sensor node cal-
culates the distance based on the delivered beacons and the
directionality information. In [45], the proposed technique uses
a single anchor node with two transmitting antennas, one omni
-directional antenna and one directional antenna. The omni-
directional antenna can vary its power, and the directional
antenna can change its direction in steps. The first antenna is
used for distance estimations and the second one for direction
estimations. In this paper[46], a path planning of mobile
anchor nodes for uniform deployment is proposed and also
proposes a mobile anchor node Localization method based
on the Diameter-Varying Spiral Line (LDVSL). The anchor
node is equipped with a bi-directional antenna.
The authors in [47], propose a path planning approach for
mobile anchor node, where the anchor node travels through
the area of interest and beacons are broadcasted to form a tri-
angle around the sensor node to minimize the localization
error. In order to cover each sensor within a triangle, the
AN can also broadcast beacons outside the sensing area. In
[48] the mobile anchor node transmits beacons, the sensors
note the beacons and calculate the distances; when the AN
returns and passes again close to that sensor, the sensors again
update its distance and localization information. The authors
in [49] proposed a single anchor-based localization scheme
where the AN is static, but the sensor nodes move, the move-
ment of sensor nodes helps to generate the additional distance
information, which can help to localize the sensors. It does not
seem realistic and practical, as moving the sensors by one’s
own choice and requirement would not be possible in maxi-
mum cases. Authors in [50] also propose a single anchor
node-based localization technique, where the AN has multiple
antennas. The AN uses both the distance and angle informa-
tion for location estimation. This estimated location is sent
to the sensor node by all available anchor nodes. The sensor
node takes an average of all received estimates and uses this
value as its position. In [51] the researchers propose a single
anchor node-based localization technique where the anchor
is equipped with an antenna array to calculate the angle infor-
mation. The nodes transmit and receive using full-duplex
radios.
The work in [52], presents a path planning scheme for
mobile anchor nodes, where the MAN travels in a trajectory
named Z-Curve, which is Z-shaped and provides three
5598
non-collinear messages to the sensor node. The MAN covers
all the sensors while traveling in the sensing field. In [53], the
authors propose a path planning scheme for MAN, named
D-connect. The region is divided into sub-squares, and the
anchor node can transmit by varying the transmit power.
The proposed trajectory connects the centers of the sub -
squares while covering the complete geographical area. In
order to overcome the shortcomings of previous MAN trajec-
tories like SCAN, HILBERT, and P Z-Curve, the work in [54]
present a new trajectory named -Scan. It is a hybrid
P of Scan
and Z-curve combining their advantages. An -Scan area
must be a rectangular area. Any irregularly shaped area must
be converted to the smallest rectangular area that can cover it.
Another work in [55] also combines SCAN and Z-Curve by
giving a trajectory named as V curve; the basic curve is V-
shaped in this path planning scheme. The authors in [56] pro-
pose a mobile anchor-based strategy where two mobile
anchors follow the SCAN trajectory in the sensing field while
moving in opposite directions.
Similarly in [57] also the mobile anchor follows the SCAN
trajectory to collect neighborhood information. This paper [58]
aims at designing path planning method and localization algo-
rithm to locate all the sensor nodes by proposing a strategy
where three mobile anchor nodes form a triangle and moving
in SCAN trajectory. Authors in [36] use UAV as a mobile
anchor node, and apply range based trilateration technique.
Authors in [59] also propose a trajectory for UAV to localize
ground objects, which relies on RSS calculations and also con-
siders the shadowing effect. Reinforcement learning is used to
optimize the process by selecting the best trajectory. In [60],
author uses machine-learning algorithm for localization in
large sensor networks. Instead of localizing in iterative man-
ner, feature vectors are defined and mapped into different
regression models. Instead of treating localization as a classifi-
cation problem in this paper it is treated as a regression prob-
lem. Analysis is provided by varying different system
parameters. Authors in [61] propose a virtual anchor node
based localization scheme for underwater acoustic networks.
In this work a virtual node is used which assists the anchor
node, it does not directly participates in the localization pro-
cess but us used for error measurements. The authors of [62]
propose a single anchor node based algorithm which receive
messages from multiple agents in order to localize them using
TOA and AOA measurements.
3. System model
An IoT network is considered; sensors are installed in a remote
area, where there is no terrestrial communication infrastruc-
ture to transmit the data gathered by sensor devices. So, in
our system model, the IoT sensors transmit the data using
the satellite spectrum opportunistically when it is vacant. As
explained in previously, the sensors have to send their location
information to the Geolocation database to access the vacant
spectrum. As shown in Fig. 2, the sensor and cluster head per-
form the localization process, and this location is shared with
the gateway node. The gateway node connects to the geoloca-
tion database by internet and shares this location information.
In return, it is given the spectrum information for data
exchange at that particular location. Once the sensor node is
updated about the frequency on which it can transfer the data,
S.B. Altaf Khattak et al.
Fig. 2 Step-wise process of localization assisted spectrum
sharing.
it connects with the satellite and transmits the sensed data in
an uplink transmission scenario, which is then passed to the
remote datacenter where it is processed for different
location-based services and value-added services. Inaccurate
localization information can lead to wrong channel availability
information.
The IoT model is cluster based, which consists of a total of
M clusters, spread over an area of W
W meters. The com-
plete area is divided into four squares with side lengths W/2.
We assume that the geolocation-database keeps the informa-
tion of spectrum per square. For example a sensor node S1
is localized in the Sq1 area. This localization information is
shared with geolocation-database which checks the availability
of channels at that specific location.
8
>
>
network1 0;
>
< network2 1; for time duration t1;
S1ðx; yÞ ¼ ð1Þ
>
> network3 1; for time duration t2;
>
:
network4 0;
Here, S1ðx; yÞ is the location of the sensor node; 0 and 1
represent the availability and non-availability of channels,
respectively. Now, based on the requirements of the sensor net-
work, the suitable channel is allocated from the list of available
channels. Similarly, the geolocation database may receive two
requests from the same Sq1, one belonging to Cluster 1 and
another from Cluster 2. The system has to decide which cluster
needs to be assigned the available channel if only one channel
is available. If multiple channels are available, each request is
assigned a suitable channel according to its requirements and
urgency. It can be represented by the weights of the clusters,
which will be communicated along with the location
information.
Each cluster consists of only one anchor node, which is
equipped with a GPS receiver and has the ability to move.
Instead of using multiple static anchor nodes, we prefer using
one mobile anchor node to localize the sensors in its range.
This cluster head node or mobile anchor node shares the loca-
tion information of the sensors with the gateway node. The
considered sensor network inside a cluster is assumed to be
two-dimensional. A single AN equipped with four directional
antennas will be responsible for localizing all available sensor
nodes SNs ¼ 1; 2; . . . ; i, available in its sensing range. The
SNs have omni-directional antennas. The objective is to locate
A novel single anchor localization method for wireless sensors 5599

the sensors with a minimum length of trajectory for AN, such

that all sensors are localized with minimum error. While mov-
ing, the AN broadcasts beacons carrying the location informa-
tion of the AN. The SNs hear the beacons, note the location
information of the AN, directional information of the antenna,
and note the received signal strength from the AN. The rela-
tion between the communication range and localizability of
sensor nodes can be mathematically represented as:
distðMANj ; SNi Þ 6 R ð2Þ

Here the SN is the sensor node, i is the total number of SNs,

and R is the communication range of MAN. The directional
antennas enable the system to locate the sensor nodes with lim-
ited movement. It also facilitates the system as an anchor node
can transmit with focusing on a specific direction and can
extend the transmission range. The AN knows its location,
so the global coordinate system is transformed to a local coor-
dinate system, where the position of the AN is taken as the ori-
gin. The system assumes the beamwidth of the four directional
antennas covers the area to form four quadrants. It can be seen
in Fig. 3, the stars represent the SNs in the field, and the
antenna at the origin shows the MAN at its initial position.
Each quadrant is covered by an antenna. The beacons also
have a flag, which carries the beacon’s information, whether
it is the starting beacon or the beacon broadcasted at the
end of the covered trajectory. The beacon received by the
SNs has the form [(x,y), Dir-ID, flag]. The distance between
the AN and SN can be calculated using both RSS and ToA.
We consider RSS in our work, and it can be calculated using
the signal propagation model [54]:
d three different ANs, or a MAN travels to three different points
RSS ¼ P þ 10:n:log þX ð3Þ
d0
Here, where P is the RSS at point d0 , taken as reference dis-
tance (1 m), n is the path loss coefficient, d is the distance
between AN and SN, while X is noise. Without the direction
information, the single AN can only know about the distance
of SNs from it, as can be seen in Fig. 4. The green circle rep-
resents the potential SN1 locations from AN1 equal to the
RSS based estimated distance between AN and SN1, similarly,
the red circle is for SN2. If the AN is equipped with directional
Fig. 4 Localization with single AN without directional
antennas.
antennas, it can improve the localization process by providing
the information like the distance and the quadrant, as shown
in Fig. 5. However, this level of localization accuracy is still
not sufficient for most location-based services and applica-
tions. So a single beacon point can not provide the localization
information if only distance measurements are used.
Traditionally, in range based system, the trilateration tech-
nique is used to localize sensor nodes. It requires three unique
beacon points, where the position is already known. It can be
where it broadcasts its beacons. The sensor node receives three
beacons, which helps calculate the distance from the AN to the
sensor using either RSS or ToA or both. Due to lack of direc-
tional information, a circle with the radius equal to the dis-
tance calculated is considered; the three circles coincide at a
single point, satisfying all the distance conditions, as shown
in Fig. 6. This point is considered the node’s location, and
the exact coordinates are calculated based on some geometrical
properties. Let A, B, and C be three ANs or beacon points, the

Fig. 3 Two dimensional local coordinate system with four

quadrants formed by directional antennas of AN. Fig. 5 Localization with single AN and one beacon point.
5600
Fig. 6 Trilateration: Three ANs based localization method.
distance information of the three ANs from the SN, using
Euclidean distance formula it can be written as:
qffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffi
8
>
> f1 ¼ ðxa  xÞ2 þ ðya  yÞ2
>
> as ð0; 0Þ. Lets move it one step on the positive y-axis to the
< qffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffi
f2 ¼ ðxb  xÞ2 þ ðyb  yÞ2 ð4Þ
>
> q ffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffi
>
> calculates the RSS based distance from this new position,
:
w ¼ ðxc  xÞ2 þ ðyc  yÞ2
here, ðxa ; ya Þ , ðxb ; yb Þ and ðxc ; yc Þ are the coordinates of these
three beacon points. We take ðx; yÞ be the unknown coordi-
nates of the sensor node. f1 f2 and w are the distances from
the three beacon points to the sensor node, respectively.
4. Proposed technique
This section discusses the proposed single anchor node-based
localization algorithm; it uses mobility and directional anten-
nas for the localization process. The algorithm is divided into
three parts, named as localization of the first node (SN1), sec-
ond sensor node (SN2), and third sensor node (SN3). Only one
cluster is considered; the same method applies to all clusters.
4.1. Localization of SN1
The MAN is equipped with four directional antennas, each
covering a quadrant, and the MAN can move within the clus-
ter. The communication range of MAN is equal to cluster size
so that every SN can receive and send messages with the
MAN. The MAN broadcasts a beacon message to every SN
in the cluster and receives a response from the SNs. It calcu-
lates the distance information from the RSS values of the
response from the SNs using the path loss model, as mentioned
in the previous section. The distance estimation can be mathe-
matically calculated using the following equations:
d
RSS ¼ P þ 10:n:log þX
d0
d
10:n:log ¼ RSS  P  X
d0
from the definition of logarithm, logb ðxÞ ¼ y can be written as
by ¼ x, so
S.B. Altaf Khattak et al.
d
10ð
RSSPXÞ
10n ¼ ð7Þ
d0
solving for d,
d ¼ d0 :10ð
RSSPXÞ
10n ð8Þ
The MAN sorts the distances and selects the nearest sensor
node for localizing. The nearest node is less prone to error
because the far -away nodes will have more errors in distance
calculation due to noise and attenuation. It is crucial to local-
ize SN1 with the highest possible accuracy, as SN1 will be used
as a virtual AN for other SNs and will directly influence their
localization. Now that the MAN knows about the SN it needs
to localize, the directional antenna that was able to connect to
SN1 gives the information about the quadrant of SN1, and
RSS-based distance calculations show the distance between
the MAN and SN1. There can be different points satisfying
this distance and directional information, as shown in Fig. 5.
This information is not enough for LBS and CR services.
We divide the axis adjacent to the SN1 into one-unit steps
and move the MAN step by step on any one axis. As we dis-
cussed in previous section, the initial position of MAN is con-
sidered as the origin of the local coordinate system and name it
point ð0; 1Þ. MAN again transmits a message to the SN1 and
and also the direction information is noted. This new position
acts as a new Anchor node and we call it as AN2, now the
position of the SN1 can be calculated based on the available
information first from the initial position of MAN (AN1)
and the new position of MAN after movement (AN2). This
methodology can be explained using illustration, which can
be seen in Fig. 7.
Our objective is to propose the optimal trajectory for the
MAN where the distance travelled by the MAN and the axis
which the MAN chooses is finalized. After every movement
of the MAN a triangle is formed, with the three points AN1,
AN2 and SN1. Let the position coordinates of the MAN at
AN1 be ðx1 ; y1 Þ ¼ ½0; 0 and of MAN at position AN2 be
ðx2 ; y2 Þ. It can move on either x-axis or y-axis, so if MAN
moves on the x-axis the AN2 coordinates will be
ðx2 ; y2 Þ ¼ ½x2 ; 0 and if moves on the y-axis, the coordinates
ð5Þ
ð6Þ
Fig. 7 Moving AN step by step ony-axis.
A novel single anchor localization method for wireless sensors
will be ðx2 ; y2 Þ ¼ ½0; y2 . We call the distance between AN1 and
SN1 as D1, the distance travelled by the MAN from point of
AN1 to pt of AN2 as DX and the distance between pt AN2
and SN1 as D2. The optimal triangle obtained by moving
the MAN at a specific axis and a specific distance is purely
based on the location of SN1. If the position of SN1 is changed
not only the value of D1 changes but also the final values of D2
and DX. The positions with highest localization accuracy are
finalized and the optimal values of the side lengths or triangle
dimensions are noted. The distances D1 and D2 are calculated
using Eq. (8). Mathematically this localization process is repre-
sented as following equations: if AN2 moves on y-axes;
ðD12 Þ þ ðy2 Þ2  ðD2Þ2
Y¼ ; ð9Þ
2
ðy2 Þ
qffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffi
X¼ ðD12 Þ  ðYÞ2 ð10Þ
if AN2 moves on x-axes;
ðD12 Þ þ ðx2 Þ2  ðD2Þ2
X¼ ; ð11Þ
2
ðx2 Þ
qffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffi
Y¼ ðD12 Þ  ðXÞ2 ð12Þ
The SN1 is calculated using the above method, to check the
localization accuracy we use Euclidean distance formula,
where the difference between the real location of SN1 ðxr ; yr Þ
and the estimated location of SN1 ðX; YÞ is calculated as
follows:
qffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffi
Error ¼ ðX  xr Þ2 þ ðY  yr Þ2 ð13Þ
We analyze the overall results obtained after the simula-
tions to develop a general rule for scenarios like one considered
in our work. In our proposed method we try to analyze if the
optimal triangle formed each time for localization of SN1 by
varying the position of AN2 through moving MAN step by
step. The optimal triangle depends on the lengths of the three
sides, the distance from SN1 to AN2 depends on the move-
ment of MAN on the axis which depends on the distance of
AN1 to SN1. For each SN1 the value of AN2 is different.
We analyze how the distance D1 between the AN1 and SN1
influences the other two distances.
4.2. Localization of SN2
Once SN1 is localized, let us move towards the localization of
the next node. Let the next node be SN2. It is essential to find
an answer to the question, which sensor node is the most
appropriate to localize based on the already available informa-
tion. SN1 has already been localized, which can also act as a
virtual anchor node to localize the second SN. The geometry
of the anchor nodes is highly important in localization; the
localization methodology for SN1 also proved that the local-
ization accuracy varied for different triangle shapes. So when
it comes to localizing the next sensor, the overall geometry
has to be taken into account. Along with the geometrical shape
of the triangle, the distance between the SN2 from other MAN
is also essential. Both these parameters are considered while
localizing SN2. Five different sensor nodes are considered as
potential candidates for SN2 and perform localization using
5601
our novel localization technique. The five potential candidates
are taken based on a criteria, first, we assume that SN1 was
localized in the 1st Quadrant (Q1) according to AN1.
1. Case 1: second nearest node to AN1 in Q1 (because the
nearest node is already localized as SN1)
2. Case 2: nearest node to AN1 in Q2
3. Case 3: nearest node to AN1 in Q3
4. Case 4: nearest node to AN1 in Q4
5. Case 5: Second nearest to AN1 (irrespective of the Quad-
rant); if any duplication exists, the next sensor is
considered.
Let us discuss the localization technique for the localization
of SN2. We can consider three points as our Anchors to local-
ize the SN2, but we limit our AN count to only two. That is
AN1 (or AN2) and SN1. We believe that using more anchors
can increase the error of estimation as there will be three
sources contributing to the localization process, each of which
will cause some error in the distance estimation, which will
eventually be accumulated in location estimation. For ease
of explanation, we assume that we include AN1 and SN1 for
localization of SN2 and consider SN2 from case 1 as shown
previously, i.e., SN1 and SN2 both belong to the same quad-
rant, SN1 is the nearest node, and SN2 is the second nearest
node to AN1 in Q1. The coordinates of AN1 are ð0; 0Þ, and
the SN1 is localized, having an estimated position as
ðx1; y1Þ. The ‘translation of axis’ is used, and the origin is
shifted from AN1 to SN1. After translation of the axis, we
use another concept i.e., ‘rotation of axis’. The axis is rotated
at a certain angle so that AN1 comes on the x-axis. The posi-
tion of AN1 is the negative x-axis in the considered scenario.
The rotation and translation of axis can be seen in Fig. 8.
The original axis is called Axis1, the axis achieved after
translation as Axis 2 and the axis achieved after rotation as
Axis3. Upon close observation, at Axis3, it resembles the sys-
tem which was used to localize SN1. As in Axis3 now it can be
seen that SN1 is acting like AN1 with coordinates of ð0; 0Þ, and
it is named as AN10, AN1 acts like AN2 of the previous local-
ization system and is named as AN20 with coordinates
ðD1; 0Þ, where D1 is the RSS based calculated distance
between AN1 and SN1, which is already available. Using the
Fig. 8 Translation and Rotation of Axes.
5602
already known equaiton from SN1 localization, we find the
coordinates of SN2. As only AN1 is equipped with directional
antennas and SN1 has an Omni-directional antenna, there are
two coordinates points in Axis3 that satisfy the conditions of
being the potential SN2 location. To take out the most suitable
candidate, AN2 filters out one of the candidate positions. AN2
does not directly participate in the localization process but
only matches the distance estimates. The MAN calculates the
distance from the AN2 position and SN2 through RSS-based
distance estimation and then compares it with the two avail-
able candidate positions. The position showing close relation
to the RSS-based distance is considered as the final estimated
position of SN2. The two distances involved in this localization
process will be F1 and w, as shown in Fig. 9. The distance F2 is
used to verify the estimated node and is not directly involved in
the localization process.
The obtained coordinates of SN2 are according to the coor-
dinate system of axis3; it is required to transform these coordi-
nates to the coordinate system of Axis2 using the following
formulas. To get the angle of rotation, the formula of slope
is used;
Y  y1
m¼ ð14Þ
X  x1
a ¼ taninvðmÞ ð15Þ
After finding the angle, we need to find the coordinates of
SN2 in axes2 system by using the following formulas:
     qffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffi
Xaxis2 cos a  sin a Xaxis3
¼ ð16Þ
Yaxis2 sin a cos a Yaxis3
Finally we transform these Axes2 coordinates to Axes 1,
which is our required coordinate system by using translation
of axis;
 R3
Xaxis1 ¼ Xaxis2 þ SN1x
ð17Þ
Yaxis1 ¼ Yaxis2 þ SN1y
We test different methodologies for localizing SN2 using
the two BPs (AN1, AN2) and virtual AN (SN1). In method
1, we use the same two BPs to localize SN2. AN2 was explicitly
placed for SN1, so the AN2 position was finalized based on the
SN1 distance. In method 2, we use trilateration, with AN1,
AN2, and SN1 as three BPs; this is the most common
Fig. 9 Involvement of AN2 for localization of SN2.
S.B. Altaf Khattak et al.
approach used to localize the remaining SNs. Method 3 takes
the average of methods 1 and 2. We propose method 4 using
the concept of ‘translation of axis’ and ‘rotation of axis’
involving only two BPs in the localization process, which is
explained above. Method 5 is the fusion of methods 1 and 4,
while Method 6 is the fusion of Method 2 and 4. We test all
these techniques and analyze the localization performance.
4.3. Localization of SN3
After localizing SN1 and SN2, we now have 4 BPs available to
localize the next level of SNs (SN3). A common approach to
localize the remaining nodes would be to use multilateration,
where the 4 BPs are involved in the localization process.
Instead, we use an alternate approach, where Geometric Dilu-
tion of Precision (GDOP) selects the best set of BPs to localize
the next SN. Minimum GDOP indicates the appropriate
geometry of involved BPs [63,64]; this concept is widely used
in satellite positioning. In our case, two sets of ANs are
formed, i.e. set1=[AN1,AN2,SN1] and set2=[AN1,AN2,
SN2]. Two SNs are selected as the candidate positions for
SN3, as seen in Fig. 10. The GDOP of set1 will be calculated
at SN2 and vice versa. If GDOP for set1 is lesser than set2, the
localization will be performed for the SN3, which is close to
SN2. Mathematically it can be calculated as follows:
Ri ¼ ðxi  xÞ2 þ ðyi  yÞ2 ð18Þ
2 x1 x y1 y 3
R1 R1
6 : 7
A¼4 : 5 ð19Þ
x3 x y3 y
R3
1
H ¼ ðA:AT Þ ð20Þ
pffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffi
GDOP ¼ TraceðHÞ ð21Þ
Ri is the distance vector between the ith BP and point where
GDOP is measured ðx; yÞ; n is the total number of BPs.
Fig. 10 GDOP calculation for two sets of ANs.
A novel single anchor localization method for wireless sensors 5603

5. Simulations results

We develop a simulation environment using MATLAB R2018a

on a Dell Laptop (Windows 10, 64-bit operating system,
2.20 GHz Intel i7 Processor and 8 GB RAM). A single mobile
anchor-based localization algorithm is implemented, where
the simulation is divided into three parts. The 1st part discusses
the localization methodology and performance for the nearest
SN, the 2nd part for the next SN, and the 3rd for the remaining
SNs. The localization algorithm exploits the RSS values, which
are predicted using a path loss model and geometrical proper-
ties. The localization methodology is compared to techniques
from the recent literature. In literature, the most common
approach to describe the localization performance of a system
is by using the Cumulative Distribution Function (CDF), dis-
playing the distribution of the error between the actual and esti-
mation positions. The same evaluation metric has been used in
Fig. 12 Localization results for SN2.
this work for performance evaluation.
To evaluate the performance of the proposed technique, we
consider a single two-dimensional cluster with dimensions of
40 meters by 40 meters, having a single MAN and 50 SNs.
Table 1 Parameters used in simulation.
The location of MAN is assumed at the origin, and it can move
on the y-axis. We analyze the results obtained after the optimal Parameter Value
triangle formed each time for localization of SN1 by varying the Path loss exponent n 3
position of AN2 through moving MAN step by step. We try to Number of SNs ‘Input’
come up with a general rule which can be used in similar scenar- Reference Distance d0 1
ios. Our analysis shows that the best localization results can be Power at d0 Pðd0 Þ 55
obtained by keeping the distance between AN1 and AN2 equal No of Samples collected at RP samp 20
to that of AN1 and SN1. So if the calculated distance between Dimensions 40*40
AN1 and SN1 is ðD1Þ, the best position for the 2nd BP would
be by moving the same ðD1Þ distance on the y-axis, making an
isosceles triangle, with two sides (D1 and DX) equal. To validate
this, we compare our technique with the most common single
AN and moving AN techniques. We make comparisons with method 5 has the best localization accuracy, and the SN2
an angle of arrival-based technique, having an error of 10°. located in the same quadrant as SN1 is localized with the high-
The work in [65] uses a non-ranging technique named perpen- est accuracy. Method 5 combines methods 1 and 4, both pro-
dicular intersection, and the work in [47,57,58] uses the concept posed in this letter, and uses two BPs instead of three. Fig. 12
of three BPs making an equilateral triangle. The localization shows the CDF plot of the error, and the detailed results for
results can be seen in Fig. 11. one iteration can be seen in Table 1.
For SN2, we analyze the different methodologies and for all The simulation results for SN3 are conducted, and our
candidates for SN2. According to the simulation results, GDOP based approach is compared with the multilateration

Fig. 11 Localization results for SN1. Fig. 13 Localization results for SN3.
5604
Table 2 Mean localization error (meters) analysis for SN2.
Q1 Q2
Method 1 2.1237 1.1452
Method 2 2.0997 4.1203
Method 3 1.842 2.3402
Method 4 1.2438 4.7404
Method 5 0.4563 2.8831
Method 6 0.806 4.1884
approach (4 BPs) and the approach using just AN1 and AN2.
The GDOP based approach outperforms, and its performance
can be seen in Fig. 13. It can be concluded that using more
ANs can increase the error as more sources contribute to the
localization process, each of which will bring some error in
the distance estimation, eventually be accumulated in location
estimation. Also, the far-away ANs, when used in localization,
will add more error because of the attenuation and noise (see
Table 2).
6. Conclusion and future recommendations
A single AN-based localization approach is proposed in this
work. The anchor node uses directionality information along
with mobility to localize the SN. Three stages of SN localiza-
tion are presented, the 1st SN is localized by investigating the
geometrical and RSS properties. A general rule is finalized
based on the distance between AN and SN. The 2nd stage local-
izes the next node, using axes rotation-translation, and also
analyzes the best possible candidate for the 2nd SN. The final
stage proposes a localization approach for remaining SNs by
using minimum GDOP based ANs selection criteria. The pro-
posed technique uses a lesser number of ANs compared to con-
ventional approaches. More ANs bring more distance
estimation errors, leading to more localization errors. Simula-
tion results validate that the proposed methods outperform
benchmark methods. More investigations can be done on the
moving anchor node work to develop a more sophisticated
relationship between the anchor node and nearest sensor node
positions, and a trajectory is proposed, leading to better local-
ization accuracy. Some other exciting ideas can be applied in
the GLDB and satellite IoT network scenario related to multi-
ple secondary networks deployment. Priority strategy for SUs
can be proposed based on localization information. We can
propose an idea to design a trading mechanism for spectrum
sharing among heterogeneous networks and application
systems.
Declaration of Competing Interest
The authors declare that they have no known competing
financial interests or personal relationships that could have
appeared to influence the work reported in this paper.
Acknowledgments
The authors would like to acknowledge Prince Sultan Univer-
sity and Smart Systems Engineering lab for their valuable sup-
port. Also, the authors would like to acknowledge the support
S.B. Altaf Khattak et al.
Q3 Q4 NN2nd
5.6664 2.4477 4.8327
3.2391 2.7796 6.1066
4.2367 2.5751 3.6217
3.9197 1.1424 8.0822
4.2545 1.545 3.5793
2.4725 1.8305 6.9816
of Prince Sultan University for Article Processing Charges
(APC) of this publication. This work is also supported by
the National Natural Science Foundation of China under
Grants 61771163, the Natural Science Foundation for Out-
standing Young Scholars of Heilongjiang Province under
Grant YQ2020F001, the Science and Technology on Commu-
nication Networks Laboratory under Grants SXX19641X072
and SXX18641X028.
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