Mobile ad hoc networks (MANET) are dynamic networks formed on-the-fly as mobile nodes move in and out of each others' transmission ranges. In general, the mobile ad hoc networking model makes no assumption that nodes know their own locations. However, recent research shows that location-awareness can be beneficial to fundamental tasks such as routing and energy-conservation. On the other hand, the cost and limited energy resources associated with common, low-cost mobile nodes prohibits them from carrying relatively expensive and power-hungry location-sensing devices such as GPS. This paper proposes a mechanism that allows non-GPS-equipped nodes in the network to derive their approximated locations from a limited number of GPS-equipped nodes. In our method, all nodes periodically broadcast their estimated location, in term of a compressed particle filter distribution. Non-GPS nodes estimate the distance to their neighbors by measuring the received signal strength of incoming messages. A particle filter is then used to estimate the approximated location from the sequence of distance estimates. Simulation studies show that our solution is capable of producing good estimates equal or better than the existing localization methods such as APS-Euclidean.
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