In wireless sensor networks, localization is one of the fundamental technologies and is essential to its applications. In this paper, we propose a three-dimensional range-free localization scheme named hexahedral localization. In the scheme, the space is divided into a lot of hexahedrons. Then, all the unknown nodes are located by utilizing the perpendicular properties of the trajectory. The contribution of our scheme can be summarized into two points. First, it fills the gap of shortage of three-dimensional localization based on mobile beacons. Second, it brings in the outstanding localization accuracy. The simulation result reveals that this localization scheme has the relative high accuracy. At the end of the paper, the performance and error of our scheme are analyzed in aim of improving in the future work.
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