The modified Hilbert path for mobile-beacon-based localization in wireless sensor networks

Recent works show that the Hilbert curve path for mobile-beacon-based localization in sensor networks has better accuracy than other approaches, such as randomized and circular paths. In this paper, the modified Hilbert curve path is introduced, and its theoretical lower bound error, compared with the basic Hilbert curve path, has been shown using Cramér–Rao lower bound analysis. It is shown that the proposed approach has a more uniform localization accuracy across all the nodes in the environment than the basic Hilbert approach. The simulation results show that this approach, combined with inter-node communication, provides better and close to uniform accuracy compared with previously proposed approaches.