UAV Aided Range Free Localisation of Heterogeneous Sensor Networks

Wireless Sensor Network (WSN) is a technology that is apt for applications in harsh environment. The constraint in terms of energy and computation power forces one to adopt protocols and processes which don't impinge on the constrained parameters. Localisation is one such process which is important for any WSN application to provide geo-location context.In this study the focus is on optimising Unmanned Aerial Vehicle (UAV) aided range free model for an environment where nodes have different communication ranges(hence called Heterogeneous Sensor Network). It aims at balancing between accuracy and reducing path length needed in the process of localisation. The proposed model reduces average localisation error, number of nodes not found without significant increase in path length of the UAV.