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In many applications of wireless sensor networks, location is very important information. It can be used to identify the location at which sensor readings originate, in routing and data storage protocols based on geographical areas and so on. Location information can come from manual setting or GPS device. However, manual setting requires huge cost of human time, and GPS setting requires expensive device cost. Both approaches are not applicable to localization task of large scale wireless sensor networks. In this paper, the authors propose an accurate and efficient localization algorithm, called iterative multilateral localization algorithm based on time rounds.
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