3D Protraction Technique for Anchor-Free, Range-Free Wireless Localization in Industrial Warehouses via Multi-Level Binary Reachability

RESUMO

Three-dimensional (3D) localization is difficult in industrial facilities because fixed-node placement is constrained by hardware, power, networking, installation, and maintenance costs. This paper presents the 3D Protraction Technique (3D-PT), an anchor-free, range-free method that converts reciprocal packet detections at ordered transmit-power levels into reliability-weighted ordinal distance relations. It estimates a relative 3D configuration without Received Signal Strength Indicator (RSSI) magnitudes, estimated ranges, surveyed anchors, or prior coordinates. In a simulated multi-height warehouse, four transmit-power levels reduce mean network-diameter-normalized RMSE by 16.0\% relative to MDS-MAP(P) in both small- and medium-network regimes, and by 23.9\% and 34.0\% relative to CATL-reproduction, respectively. Accuracy largely saturates beyond four power levels. The results show that multi-level binary reachability provides useful geometric information beyond a single maximum-power connectivity graph.