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Awareness of the physical location for each node is required by many wireless sensor network applications. The discovery of the position can be realized utilizing range measurements including received signal strength, time of arrival, time difference of arrival and angle of arrival. In this paper, we focus on localization techniques based on angle of arrival information between neighbor nodes. We propose a new localization and orientation scheme that considers beacon information multiple hops away. The scheme is derived under the assumption of noisy angle measurements. We show that the proposed method achieves very good accuracy and precision despite inaccurate angle measurements and a small number of beacons
Peng et al. (Sun,) studied this question.