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Beyond Anchors: Optimal Equality Constraints in Cooperative Localization

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Industrial IoT Technologies and Applications (Industrial IoT 2020)

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Abstract

Although anchors are the most common in cooperative localizations, they are not the optimal in the class of equality constraints which provide the global reference information for deriving absolute locations. Using Cramér-Rao lower bound (CRLB) to evaluate the localization accuracy, this paper derives the optimal equality constraints that achieve the lowest CRLB trace under given constraint number, and analyzes the feasibility of constructing the optimal constraints before knowing the node ground truth locations. Simulations compare the performance between the anchor-type constraints and the optimal ones, and suggest a cooperative localization algorithm by using the optimal equality constraints.

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Author information

Authors and Affiliations

  1. The Key Laboratory of Computer Application Technology, Anhui Polytechnic University, Wuhu, 241000, China

    Ping Zhang, Fei Cheng & Jian Lu

  2. The School of Information Science and Engineering, Southeast University, Nanjing, 210096, China

    Ping Zhang, Fei Cheng & Jian Lu

Authors
  1. Ping Zhang
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  2. Fei Cheng
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  3. Jian Lu
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Corresponding author

Correspondence to Ping Zhang .

Editor information

Editors and Affiliations

  1. Universitat Politècnica de València, Valencia, Spain

    Lourdes Peñalver

  2. Instituto Madrileño de Investigación y, Madrid, Spain

    Lorena Parra

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Zhang, P., Cheng, F., Lu, J. (2021). Beyond Anchors: Optimal Equality Constraints in Cooperative Localization. In: Peñalver, L., Parra, L. (eds) Industrial IoT Technologies and Applications. Industrial IoT 2020. Lecture Notes of the Institute for Computer Sciences, Social Informatics and Telecommunications Engineering, vol 365. Springer, Cham. https://doi.org/10.1007/978-3-030-71061-3_4

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  • DOI: https://doi.org/10.1007/978-3-030-71061-3_4

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  • Publisher Name: Springer, Cham

  • Print ISBN: 978-3-030-71060-6

  • Online ISBN: 978-3-030-71061-3

  • eBook Packages: Computer ScienceComputer Science (R0)

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