Patent ID: 8626188

Claim:
A method of estimating position of a target mobile node by a position estimation server, the method comprising: receiving information required for position estimation, the information including at least two anchor nodes knowing their position, connectivity information between the anchor nodes and mobile nodes, distance information estimated between the anchor nodes and the mobile nodes, and distance information estimated between the mobile nodes; and estimating a position of the target mobile node among a plurality of mobile nodes using the information, the estimating including estimating the position of the at least one target mobile node in a batch manner using information of the position estimated for the at least one target mobile node after sequentially estimating the position of the at least one target mobile node, and the batch estimating comprises: setting the position of the target mobile node to an arbitrary nominal point; estimating an error in the nominal point with respect to an actual position of the target mobile node by using the information required for position estimation; updating the nominal point using the error; and estimating the nominal point as the position of the target mobile node until the error is less than a predetermined value, and where the information is shared across coverage areas of the mobile nodes and used to estimate a position of a next mobile node using the position of the target mobile node estimated and the information shared.