Outdoor localization in long range WSN using trilateration

Abstract: This thesis report investigates how good position estimations that can be done outdoors with received signal strength indication (RSSI) trilateration for sub 1-GHz radio nodes. A custom network and an empirical distance model have been created as well as a technique for weighting multiple distance estimations, using wrapped normal probability density functions. The developed localization system was tested on an open area of one square kilometer, to estimate a node’s position on various locations. To evaluate the localization system, mean and median error of the estimated positions were calculated.