Abstract
SummaryLocalization error occurrence due to a position ambiguity is a very critical problem in wireless distributed cooperative localization, which may, in turn, affect the reliability of the localization of the whole or a major portion of the network. In this paper, we formulate a two‐dimensional cooperative localization model via graph partition in arbitrary topologies while considering the cooperative node's (or neighbor's) position ambiguity. Based on this model, we establish a robust algorithm, named weighted factor graph (FG)‐based cooperative localization algorithm, by mapping local topologies into the FG and by incorporating the vector‐addition error as the weight. The vector‐addition error includes the measurement error and the neighbor's position ambiguity, simultaneously. The optimal weight is derived theoretically according to the statistic properties of the vector errors and the joint probability density function. Theoretical analysis and numerical results indicate that the proposed algorithm can acquire higher level of accuracy for localization in various topology scenarios in comparison with some typical algorithms. Copyright © 2014 John Wiley & Sons, Ltd.
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