Algorithm 2 Location Verification

Input: ${\widehat{d}}_{ij}$and ${{\delta }^{\prime }}_{ij}$

Output: ${A^{\prime }}_d$

For each node

if ($\left|{\overrightarrow{F}}_i-{\overrightarrow{F}}_i^{\prime }\right|>{\omega }_3{\overrightarrow{e}}_{ij}$) send message to its 2-hop neighbor nodes;

recalculate ${\overrightarrow{F}}_i^{\prime }$ after removing the declared drifted node from its neighbor table;

recognize drifted nodes and unreliable anchors;

end