Robust localisation algorithm for solving neighbour position ambiguity

Abstract

Localisation error due to sensitivity to position ambiguity, with respect to some neighbouring nodes, is a major problem in wireless localisation. To solve this problem, the tangent linear approximation (TLA) for the nonlinear localisation model is derived, contributing to incorporating the effect of the neighbours' position ambiguity into belief propagation (BP) localisation. Theoretical analysis and numerical results indicate that the TLA-BP algorithm can acquire higher accuracy and convergence probability compared with other typical methods.