Abstract
We study the cooperative localization in indoor multipath environments considering the larger localization error and insufficient LOS (LOS) localization signals. Using the surrounding nodes as reference points, some existing localization schemes can cooperatively localize the candidate terminals when there are insufficient LOS localization signals. But the localization error arising from the reference points is unavoidable. We first propose a space-partitioning method based on ray tracing technology, in which the indoor area is divided into a direct localization area with LOS conditions (DLA) and a cooperative localization area with NLOS (NLOS) conditions (CLA). In a DLA, there are sufficient LOS localization signals that can be used for localization, while in a CLA, the number of LOS localization signals is insufficient. Then, we develop a cooperative localization scheme based on the space partitioning, in which the reference points can assist the candidate terminals to accomplish their localization. Finally, extensive experiments verify the effectiveness of the proposed cooperative localization scheme.
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