Research On Mobile Anchors-assisted Cooperative Localization

Wireless localization is proposed to estimate the locations of specific objects by exploiting the characteristic parameters of radio signal.Recent years,with the rapid progress of wireless communication technology and the development of location based service,wireless localization has been widely used in many areas such as military,industry,mobile electronic commerce,emergency rescue and so on.However,due to the reasons such as sparsely deployment of anchors,irregular distribution of anchors,non-of-sight factors and so on,the localization probability of the nodes is low and the localization error is large.For these problems,this paper mainly study the mobile anchors-assisted cooperative localization,namely,the non-localized nodes are exploited to act as the mobile anchors for each other to improve the localization probability and reduce the localization error.The main contributions of in this paper are listed as follows:1)Firstly,we analysis all the deployment situations of the nodes in a localization scenario which contains three fixed anchors and three non-localized nodes,and summary all the conditions into 12 cases to analysis the localization performance of our proposed mobile anchors-assisted cooperative localization idea.2)For the problem of large localization error,propose a cooperative localization method which is based on the Kalman Filter.It takes all the non-localized nodes as a group and the communication information among the non-localized nodes are exploited to improve the localization accuracy.Besides,we extend the traditional Kalman Filter to make it applicable to our method.3)To decrease the communication cost while keeping up with the localization probability,a cooperative localization method based on elected mobile anchors is designed.It elects part of the localized nodes based on the hash function,to act as mobile anchors and assist the localization of other non-localized nodes.The electing of the mobile anchors is based on the distance information among the localized nodes,which can guarantee the localization probability to the utmost.4)To evaluate the actual localization performance of our proposed method,we design a real localization system based on the Nanotron localization node.Besides,extensive real-world tests and experiments are conducted to evaluate the localization performance of our proposed localization idea.