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Proceedings Paper

Iterative MMSE cooperative localization with incomplete pair-wise range measurements
Author(s): Songnan Xi; Michael D. Zoltowski; Liang Dong
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Paper 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.

Paper Details

Date Published: 28 April 2010
PDF: 8 pages
Proc. SPIE 7706, Wireless Sensing, Localization, and Processing V, 77060F (28 April 2010); doi: 10.1117/12.852680
Show Author Affiliations
Songnan Xi, Purdue Univ. (United States)
Michael D. Zoltowski, Purdue Univ. (United States)
Liang Dong, Western Michigan Univ. (United States)


Published in SPIE Proceedings Vol. 7706:
Wireless Sensing, Localization, and Processing V
Sohail A. Dianat; Michael D. Zoltowski, Editor(s)

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