Fault-Tolerant Cooperative Localization of 3D Mobile Networks via Two-Layer Filter Multidimensional Scaling

The current research on cooperative localization of mobile cluster networks mainly focus on 2D networks with high-quality wireless environment. This study considers the problem in 3D mobile networks, a fault-tolerant cooperative localization algorithm based on two-layer filter Multidimensional Scaling (Filter-MDS) is proposed. First, the non-line-of-sight (NLOS) error in the wireless environment is expanded, and the concept of random error environment is proposed. Secondly, a location framework suitable for 3D mobile networks is constructed and the Cramer-Rao lower bound (CRLB) of 3D location in random error environment is derived. Filters based on multi-time motion state and geometric configuration are introduced into the location framework to construct Filter-MDS. Simulation experiments show that Filter-MDS can effectively identify the abnormal errors in range measurement and improve cooperative localization accuracy of mobile cluster network in random error environment.