Comparison of message passing algorithms for cooperative localization under NLOS conditions

For large wireless networks, there is a need for accurate localization in a distributed manner. Several algorithms have been developed in order to achieve this goal. However, comparing different algorithms is hard because of the use of different network topologies and measurement models. In this paper two promising message passing algorithms, called SPAWN and SLEEP, are compared in terms of accuracy, complexity, and network traffic. To enable a fair comparison, several alterations are made to SLEEP resulting in ASLEEP with reduced network traffic and the incorporation of reference nodes. Simulations, using measurement models from real ultra-wideband equipment, show that ASLEEP is able to achieve similar estimation quality as SPAWN at much lower complexity and network traffic.