In 2015 23rd European Signal Processing Conference (EUSIPCO), pages 185-189, Aug, 2015. 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.