A Comparison of Parametric and Sample-Based Message Representation in Cooperative Localization

摘要: Location awareness is a key enabling feature and fundamental challenge in present future wireless networks. Most existing localization methods rely on infrastructure thus lack the flexibility robustness necessary for large ad hoc In this paper, we build upon SPAWN (sum-product algorithm over network), which determines node locations through iterative message passing, but does so at high computational cost. We compare different representations terms of performance complexity investigate several types cooperation based censoring. Our results, experimental data with ultra-wideband (UWB) nodes, indicate that parametric representation combined simple censoring can give excellent relatively low complexity.