A Comparison of Parametric and Sample-Based Message Representation in Cooperative Localization
Author(s)Lien, Jaime; Ferner, Ulric John; Srichavengsup, Warakorn; Wymeersch, Henk; Win, Moe Z.
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Location awareness is a key enabling feature and fundamental challenge in present and future wireless networks. Most existing localization methods rely on existing infrastructure and thus lack the flexibility and robustness necessary for large ad hoc networks. In this paper, we build upon SPAWN (sum-product algorithm over a wireless network), which determines node locations through iterative message passing, but does so at a high computational cost. We compare different message representations for SPAWN in terms of performance and complexity and investigate several types of cooperation based on censoring. Our results, based on experimental data with ultra-wideband (UWB) nodes, indicate that parametric message representation combined with simple censoring can give excellent performance at relatively low complexity.
DepartmentMassachusetts Institute of Technology. Department of Aeronautics and Astronautics; Massachusetts Institute of Technology. Laboratory for Information and Decision Systems; Massachusetts Institute of Technology. Research Laboratory of Electronics
International Journal of Navigation and Observation
Hindawi Publishing Corporation
Lien, Jaime et al. “A Comparison of Parametric and Sample-Based Message Representation in Cooperative Localization.” International Journal of Navigation and Observation 2012 (2012): 1–10.
Final published version