An enhanced triangulation algorithm for a distributed RSSI-DoA positioning system

Sub-meter localization systems based on a network of SBAs capable of standard IEEE radio communications (WiFi/Bluetooth/ZigBee) are becoming of real interest due to improvements in the computational capability of mobile devices: these systems realize optimal data-contextualization as a layer placed over standard communication, so the positioning service becomes available to every client of the network. This paper presents an enhanced triangulation algorithm adapted to RSSI-DoA localization networks, specifically designed to exploit the RSSI evaluation given from localizing network anchor nodes, thus reducing the localization error due to RSSI-DoA system weaknesses.