Cooperative Network Localization Via Node Velocity Estimation

This paper addresses cooperative localization for mobile ad-hoc networks that benefits from the node velocity estimation. Given pair-wise range measurement and relative speed measurement between communicating nodes, the relative node positions are estimated using an extended Kalman filter. The state-space equation of the Kalman filter incorporates the node positions with their velocities. The measurement equation takes into account the log-normal distribution of the received signal power and the Gaussian distribution of the relative speed measurement error. Distributed algorithm is derived for practical use. The simulation results show the performance of the network localization with the assistance of node velocity estimation. The velocities are, however, not tracked using the Kalman filter; Separated method is proposed to estimate the node velocities.