Abstract
This chapter describes cooperative localization in wireless networks, where mobile nodes with unknown positions jointly infer their positions through measuring and exchanging information with each other. The technique of cooperation localization, efficiently even in harsh propagation environment, enables amounts of location-based services that rely on high-accuracy position information of mobile nodes. After a brief introduction of cooperative localization, the Cramer-Rao lower bound is given as a standard metric for performance. Then the information in the temporal and spatial domain is illustrated with geometrical interpretations. Two classes of cooperative localization algorithms, namely, centralized and distributed algorithms, are presented to show the implementation of the cooperative localization in a wireless network. Then the performance of cooperative localization under non-line-of-sight condition is analyzed. Lastly, numerical results are given to illustrate the performance of cooperative localization algorithms.
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