Iterative MMSE cooperative localization with incomplete pair-wise range measurements

Songnan Xi; Michael D. Zoltowski; Liang Dong

doi:10.1117/12.852680

28 April 2010 Iterative MMSE cooperative localization with incomplete pair-wise range measurements

Songnan Xi, Michael D. Zoltowski, Liang Dong

Proceedings Volume 7706, Wireless Sensing, Localization, and Processing V; 77060F (2010) https://doi.org/10.1117/12.852680
Event: SPIE Defense, Security, and Sensing, 2010, Orlando, Florida, United States

Abstract

We propose and study an iterative minimum-mean-square-error (MMSE) cooperative localization algorithm, which achieves better root-mean-square-error (RMSE) performance than existing classical estimators. Using the received signal strength (RSS) measurements, we first derive the formulas for estimating the coordinates of position-unknown nodes. Then, we investigate the practical solutions to calculate the complicated multiple integrals involved in the formulas and propose an adaptive and iterative algorithm to circumvent the intense computation burden incurred by the numerical multiple integral computation methods. We further study the proposed MMSE cooperative localization algorithm in the scenario where pair-wise range measurements are incomplete, that is, pair-wise range measurements between certain pairs of nodes are missing. It is observed that the performance degrades at a slower speed than the reduction of the available range measurements. In other words, not much performance degradation is caused by comparatively large number of missing measurements. Therefore, we can improve the efficiency of the iterative MMSE algorithm by intentionally throwing away certain pair-wise range measurements.

Citation Download Citation

Songnan Xi, Michael D. Zoltowski, and Liang Dong "Iterative MMSE cooperative localization with incomplete pair-wise range measurements", Proc. SPIE 7706, Wireless Sensing, Localization, and Processing V, 77060F (28 April 2010); https://doi.org/10.1117/12.852680

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