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http://dx.doi.org/10.1109/JCN.2016.000055

HEVA: Cooperative Localization using a Combined Non-Parametric Belief Propagation and Variational Message Passing Approach  

Oikonomou-Filandras, Panagiotis-Agis (Department of Electronic and Electrical Engineering, University College London)
Wong, Kai-Kit (Department of Electronic and Electrical Engineering, University College London)
Publication Information
Journal of Communications and Networks / v.18, no.3, 2016 , pp. 397-410 More about this Journal
Abstract
This paper proposes a novel cooperative localization method for distributed wireless networks in 3-dimensional (3D) global positioning system (GPS) denied environments. The proposed method, which is referred to as hybrid ellipsoidal variational algorithm (HEVA), combines the use of non-parametric belief propagation (NBP) and variational Bayes (VB) to benefit from both the use of the rich information in NBP and compact communication size of a parametric form. InHEVA, two novel filters are also employed. The first one mitigates non-line-of-sight (NLoS) time-of-arrival (ToA) messages, permitting it to work well in high noise environments with NLoS bias while the second one decreases the number of calculations. Simulation results illustrate that HEVA significantly outperforms traditional NBP methods in localization while requires only 50% of their complexity. The superiority of VB over other clustering techniques is also shown.
Keywords
Cooperative localization; non-line-of-sight (NLoS); non-parametric belief propagation; variational Bayes;
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