The route discovery and data forwarding work in wireless sensor networks (WSNs) is obtained by means of the location information of nodes in Geographic routing. However, Positioning systems are inevitably imprecise in realistic localization conditions because of inexact range measurements and location errors and resulting in poor performance in packet delivery ratio (PDR) and energy efficiency. This paper proposes an optimized geographic routing method that resilient to location errors, named conditioned mean square error ratio (CMSER) routing, intended to make use of existing network information efficiently and to find a new routing path when localization is inaccurate, the next hop selection is based on the largest distance to destination and the smallest estimated error figure associated with the measured neighbor coordinates, in order to reduce the complexity of the algorithm. Simulation results show that the throughput for CMSER is higher than for other methods, additionally it also reduces the energy wasted on lost packets by keeping their routing paths short.
