Censored cooperative positioning for dense wireless networks

Abstract

Abstract-Cooperative positioning is an emerging topic in wireless sensor networks and navigation. It can improve the positioning accuracy and coverage in GPS-challenged conditions such as inside tunnels, in urban canyons, and indoors. Different algorithms have been proposed relying on iteratively exchanging and updating positional information. For the purpose of computational complexity, network traffic, and latency, it is desirable to minimize the amount of information shared between devices, while still maintaining acceptable performance. We show that information that is not reliable should not be shared, and information that is not informative should not be used. This naturally leads to censoring schemes. We consider different censoring schemes based on the Cramér Rao bound (CRB). We find that by blocking the broadcasts of the nodes that don't have reliable estimates (transmit censoring) and selecting the most usable links after receiving signals from neighbors (receive censoring), complexity, traffic, and latency can be reduced significantly without degrading positioning performance.

Analysis of RSSI and CLS based Localization Algorithms in Wireless Sensor Networks

“…There must be somePrecision improvement in both active and passive nodes. There is a one adaptive method to eliminate the inefficient links proposed by Denis et al [15].This method is only uses neighbor node information but it cannot effectively reduce the number of packets.…”

Energy-efficient mobile tracking in heterogeneous networks using node selection

“…The Geometric Dilution of Position (GDOP) [4] captures the relative node geometry aspect, while the Cramer-Rao Lower Bound (CRLB) captures both aspects. They are often used as positioning accuracy indicators [5,6]. Besides positioning accuracy, some works [7][8][9] apply concepts from coalitional games and utility functions and select anchor nodes according to a cost function jointly considering power consumption and localization performance.…”

“…Anchor node selection in heterogeneous network is less addressed [5,6]. The authors in [7] considered iterative cooperative localization among static nodes having imperfect position information.…”

“…The authors in [7] considered iterative cooperative localization among static nodes having imperfect position information. The algorithm in [5] includes both transmit and receive censoring. Transmit censoring prevents broadcast of unreliable position estimates, while receive censoring discards inadequate links for position estimation.…”

Cooperative localization in mobile networks using nonparametric variants of belief propagation

“…Note that we can also avoid receiving packages, as done in [31]. This technique should be applied if receiving the data is energy-consuming, and also in the case of single-cast communication.…”