A Dynamic Constrained Cooperative Localization Algorithm

Cooperative localization (CL) algorithms are widely used in various systems, such as wireless sensor networks (WSNs), urban vehicular networks and unmanned aerial vehicle (UAV) networks. The performance of traditional CL algorithms degrades when these algorithms are applied to sparse distribution and high mobility scenarios. In this paper, a dynamic constrained CL algorithm based on the sum-product algorithm (SPA) is proposed. Dynamic constraints can effectively reduce the negative impact caused by the network nodes' mobility, and improve the accuracy of the prior position estimates. Based on the prior information, the SPA is used to fuse range measurements. Simulation results show that the proposed algorithm has better localization performance than EKF-based CL algorithms and SPAWN in critical environment.