Distributed scheduling for cooperative localization based on information evolution

In cooperative localization networks, nodes estimate their locations through inter-node ranging, location information exchange, and information fusion. These operations cause packet collision, large communication overhead, and high computational complexity, which can be alleviated by proper scheduling techniques. In this paper, we design distributed scheduling algorithms for cooperative localization networks, which improve the efficiency of localization through neighbor selection and collision control. Then, we determine the evolution of each node´s location error through cooperation and movement using Fisher information analysis. Furthermore, we analyze the convergence of the location error under the proposed scheduling algorithm. Simulation results show that the efficiency of localization is significantly improved by using the proposed scheduling algorithm.