This paper presents mobile node localization algorithm for environments in which GPS or other positioning systems are not applicable or available. Existing localization systems are using propagation characteristics such as attenuation or speed of radio or ultrasound signals or timings of controlled laser radiation to estimate node azimuth and/or distance to nodes with known position (anchor nodes). Presented algorithm is using azimuth estimation based on measured angle of incidence of controlled infrared radiation from anchor nodes. Angle of arrival estimation and localization algorithms are implemented on low cost, small footprint and low power wireless nodes based on 8-bit microcontroller. Experimental evaluation results are promising and with further sensor optimization can guarantee high precision of estimated locations.
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