A Novel Semidistributed Localization Via Multinode TOA–DOA Fusion

This paper presents a 2-D semi-distributed localization technique, which is based on the fusion of the positioning data estimated by multiple mobile nodes. The fusion is implemented in the local coordinate of one of the nodes (reference node) and improves the positioning performance of the desired node in the coordinate of the reference node. This paper introduces the proposed localization fusion technique. The fusion weights and positioning error are theoretically derived, and the efficiency of a suboptimal reference node selection method, the positioning error, and the position update rate are evaluated via simulations.