Hybrid WSN-RFID cooperative positioning based on extended kalman filter

In this paper we propose a novel hybrid and cooperative positioning approach based on extended Kalman filter (EKF) to localize mobile targets in indoors. The algorithm fuses both received signal strength (RSS) measurements performed by nodes of a wireless sensor network (WSN) and proximity information from radio frequency identification (RFID) devices. Simulation results prove that the proposed cooperative approach outperforms the non-cooperative version of the algorithm.