among themselves to form a global or relative coordinate system.
Therefore, we propose an energy-efficient method to select and maintain a relative coordinate system in the WSN.
Therefore, a specific approach is used to establish a relative coordinate system of the entire network.
Later, these coordinate systems are transformed into one relative coordinate system. To achieve this goal, we need to compute a translation vector, a scale factor and an orthonormal rotation matrix, that define the transformation from one coordinate system to another.
Later, these local coordinate systems are transformed into one relative coordinate system. Finally, remaining network nodes compute their positions in this coordinate system.
Using results from the simulation, it is verified that growth of network mobility causes additional energy costs required to maintain relative coordinate system. In almost static network, one-hop center group is enough to maintain a relative coordinate system with sufficient stability.