CGL-based modified Taylor-series localization algorithms for future wireless networks

The cooperative group localization (CGL) scheme was firstly put forward by the authors in reference [8] in order to solve the ill-conditioned localization problem in mobile communication networks. When each mobile terminal (MT) in a terminal group (TG) has no sufficient signal resources, the CGL scheme makes it possible to accurately locate all the MTs in the TG. The unique solvability of the CGL scheme had been proved by analyzing rigid graph theory. Based on the traditional Taylor-series localization algorithm, the paper proposes a CGL-based modified Taylor-series localization algorithm (Algorithm I). The numerical simulation evaluation indicates that the proposed algorithm can obtain a considerable gain on localization accuracy compared with the traditional methods. However, the proposed algorithm requires that when the unique localization is realized the CGL topology must be global rigidity, which is harsh for the real situation. Therefore, the paper also proposes an OA-CGL modified Taylor-series localization algorithm (Algorithm II) that can solve the CGL problem with no perfectly global rigidity by optimizing the initial position estimation method. The simulation results indicate that algorithm II has good localization performance.