Matrix computations (3rd ed.)
Recursive Position Estimation in Sensor Networks
ICNP '01 Proceedings of the Ninth International Conference on Network Protocols
The n-hop multilateration primitive for node localization problems
Mobile Networks and Applications
Robust distributed network localization with noisy range measurements
SenSys '04 Proceedings of the 2nd international conference on Embedded networked sensor systems
An Analysis of Error Inducing Parameters in Multihop Sensor Node Localization
IEEE Transactions on Mobile Computing
Error control in distributed node self-localization
EURASIP Journal on Advances in Signal Processing
On the error characteristics of multihop node localization in ad-hoc sensor networks
IPSN'03 Proceedings of the 2nd international conference on Information processing in sensor networks
Analyzing localization errors in one-dimensional sensor networks
Signal Processing
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Location information for sensors in wireless sensor networks (WSNs) is essential to many tasks. In the presence of noise, locations must be estimated and thus the errors are unavoidable. Moreover, the errors can propagate (i.e. increase) as sensors progressively more distant from anchors are localized. Understanding the rules governing error propagation is quite helpful to deploying WSNs and improving performances of localization systems. In this paper, we investigate error propagation measured by the Cramér-Rao Lower Bound (CRLB) in a type of regular 1-Dimensional WSNs whose Fisher Information Matrices are symmetric band Toeplitz matrices. Approximate analytic formulas for the CRLBs in the regular and almost regular WSNs are derived, and properties of error propagation are also obtained. In addition, we derive a magic number relating to the number of range measurements, which indicates a turning point as to system localization accuracies.