Issued Date 2010 URL http://hdl.handle.net/10722/134516 Rights Globecom. IEEE Conference and Exhibition. Copyright © IEEE.; This work is licensed under a Creative Commons Attribution-NonCommercial-NoDerivatives 4.0 International License.; ©2010 IEEE. Personal use of this material is permitted. However, permission to reprint/republish this material for advertising or promotional purposes or for creating new collective works for resale or redistribution to servers or lists, or to reuse any

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... hted component of this work in other works must be obtained from the IEEE. Abstract-Finding locations of the sensor nodes in Wireless Sensor Network has been an active research area in recent years. One important category of approaches uses distance measurements between anchors and sensors to localize the unknown node. However, most approaches assume that the anchor positions are perfectly known, while in practice the anchor positions may not be accurate due to estimation errors as well as observation errors. In this paper, we study the localization of wireless sensor node with erroneous anchors, and propose an EM estimator which iteratively refines the anchor positions and estimates the sensor location. Simulation results shows that the EM estimator converges in a few iterations and outperforms the existing robust least squares algorithm.