Distributed Cooperative Localization with EW-TLS Model in Wireless Networks

In cooperative localization, distributed algorithm is more attractive than its centralized counterpart due to the low complexity and robustness. However, the position ambiguity of cooperative mobile terminal (MT) is usually neglected by related works, causing the loss of accuracy in distributed algorithms. In this paper, we establish an element-wise-weighted total least-squares (EW-TLS) model for distributed cooperative localization. Considering the impact of position ambiguity and distance measurement error, this localization model yields an optimal consistent estimator. Meanwhile, a general geometric dilution of precision (G-GDOP) metric is derived to estimate MT´s coordinate error. Then a distributed cooperative localization algorithm is proposed by integrating the EW-TLS model with the G-GDOP metric. Simulation results indicate that the proposed algorithm outperforms traditional methods in high accuracy and strong robustness.