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Hybrid Cooperative Positioning based on Distributed Belief Propagation

: Caceres, M.A.; Penna, F.; Wymeersch, H.; Garello, R.


IEEE Journal on Selected Areas in Communications 29 (2011), No.10, pp.1948-1958
ISSN: 0733-8716
Journal Article
Fraunhofer HHI ()
Global Positioning System; ad hoc networks; belief propagation; cooperative positioning; distributed signal processing; localization

We propose a novel cooperative positioning algorithm that fuses information from satellites and terrestrial wireless systems, suitable for GPS-challenged scenarios. The algorithm is fully distributed over an unstructured network, does not require a fusion center, does not rely on fixed terrestrial infrastructure, and is thus suitable for ad-hoc deployment. The proposed message passing algorithm, named hybrid sum-product algorithm over a wireless network (H-SPAWN), is described and analyzed. A novel parametric message representation is introduced, to reduce computational and communication overhead. Through simulation, we show that H-SPAWN improves positioning availability and accuracy, and outperforms hybrid positioning algorithms based on conventional estimation techniques.