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Localization is indispensable for the successful deployment of Wireless Sensor Networks (WSNs). Time-based localization approaches attract a lot of interest due to their high accuracy and potentially low cost. However, time-based localization is intensively coupled with clock synchronization. Thus, the reliability of timestamps in the time-based localization becomes an important yet challenging task to deal with. In this paper, the authors propose a robust time-based localization approach to locate a target node with the assistance of anchors (nodes with known positions) in an asynchronous network with clock offsets. They employ the Asymmetric Trip Ranging (ATR) protocol to obtain Time-Of-Arrival (TOA) measurements and facilitate clock offset cancellation.
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