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Hybrid Cooperative Positioning Based on Distributed Belief Propagation

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4 Author(s)
Caceres, M.A. ; Politec. di Torino, Torino, Italy ; Penna, F. ; Wymeersch, H. ; Garello, R.

We propose a novel cooperative positioning algorithm that fuses information from satellites and terrestrial wireless systems, suitable for GPS-challenged scenarios. The algorithm is fully distributed over an unstructured network, does not require a fusion center, does not rely on fixed terrestrial infrastructure, and is thus suitable for ad-hoc deployment. The proposed message passing algorithm, named hybrid sum-product algorithm over a wireless network (H-SPAWN), is described and analyzed. A novel parametric message representation is introduced, to reduce computational and communication overhead. Through simulation, we show that H-SPAWN improves positioning availability and accuracy, and outperforms hybrid positioning algorithms based on conventional estimation techniques.

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Selected Areas in Communications, IEEE Journal on  (Volume:29 ,  Issue: 10 )