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 Volume 5, Issue 2 (February 2018), Pages: 33-36


 Original Research Paper

 Title: Modified weighted centroid algorithm for indoor and outdoor positioning using wireless sensors network

 Author(s): Abdulqudos Y. Alnahari, Noor Azurati Ahmad *, Yusnaidi Yusof


 Advanced Informatics School, University Technology Malaysia, Kuala Lumpur, Malaysia

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Positioning, either outdoor or indoor, has been one of the most attractive fields for researchers to study and they apply different approaches in order to allocate a moving object. Some positioning approaches use Received Signal Strength (RSSI) in order to determine the location such as Fingerprinting, and Weighted Centroid Localization (WCL). On the other hand, some approaches use signal travelling time such as Time of Arrival (TOA) and Time Difference of Arrival (TDOA). However, the accuracy is still low due to the effect of RSSI to moving objects. This paper shows how to allocate a blind node in a wireless sensor network (WSN) using the proposed WCL approach and shows how the enhancement of the algorithm made better accuracy with mean square error, MSE, of 64.5 cm for indoor positioning and 123.0cm for outdoor positioning. One of previous WCL approaches reached accuracy with an error of as low as 15.0 cm but in simulation, and others used different approaches with MSE of 80.0 cm and another as high as 2.6 m. 

 © 2017 The Authors. Published by IASE.

 This is an open access article under the CC BY-NC-ND license (

 Keywords: Indoor positioning, Outdoor positioning, WSN, Zigbee, RSSI, WCLA

 Article History: Received 30 August 2017, Received in revised form 23 November 2017, Accepted 5 December 2017

 Digital Object Identifier:


 Alnahari AY, Ahmad NA, and Yusof Y (2018). Modified weighted centroid algorithm for indoor and outdoor positioning using wireless sensors network. International Journal of Advanced and Applied Sciences, 5(2): 33-36

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