Efficient cooperative localization algorithm in LOS/NLOS environments. Jin, D., Yin, F., Fritsche, C., Zoubir, A. M., & Gustafsson, F. In 2015 23rd European Signal Processing Conference (EUSIPCO), pages 185-189, Aug, 2015.
Efficient cooperative localization algorithm in LOS/NLOS environments [pdf]Paper  doi  abstract   bibtex   
The well-known cooperative localization algorithm, `sum-product algorithm over a wireless network' (SPAWN) has two major shortcomings, a relatively high computational complexity and a large communication load. Using the Gaussian mixture model with a model selection criterion and the sigma-point (SP) methods, we propose the SPAWN-SP to overcome these problems. The SPAWN-SP easily accommodates different localization scenarios due to its high flexibility in message representation. Furthermore, harsh LOS/NLOS environments are considered for the evaluation of cooperative localization algorithms. Our simulation results indicate that the proposed SPAWN-SP demonstrates high localization accuracy in different localization scenarios, thanks to its high flexibility in message representation.

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