Abstract
Location awareness is becoming essential for various wireless applications, and cooperation among nodes is highly beneficial for localization performance. However, the existing cooperative localization (CL) algorithms may suffer from major performance loss when applied to the mobile environments with fast changing network topologies. In this paper, we extend the joint spatial and temporal cooperation (JSTC) model to the range-based localization problem. Based on mobility constraints and the maximum likelihood estimation (MLE) criterion, we formulate the CL problems in both centralized and distributed cases. Different from the conventional distributed CL problems, the proposed one takes the transmission delay and the cooperation among multi-hop nodes into account, which is more practical. Moreover, the performance limits of the considered problems are investigated by the Cramer-Rao lower bound (CRLB). Finally, these two problems are solved by the Sequential Quadratic Programming (SQP) algorithm. Both simulation and experiment results show that the extended JSTC model can effectively improve the localization reliability and accuracy.
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