In this paper, we propose an innovative system aimed to process absolute localization of nodes in wireless sensor networks, without anchor nodes. This system takes advantages of the nodes mobility with the use of a map of the considered area. From this map, evolution models can be defined in order to use Bayesian Filtering methods, such as particle filter, to help the localization process and provide tracking solutions of mobile nodes. Using the approaches used for relative positioning in wireless sensor networks, we first find the geometry of the network and then apply sequential Monte Carlo method (a particle filter) to embed this geometry in the map of the area. Our simulations show that we are able to find a correct embedding for the network geometry in 80% of the cases we considered.
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