Hybrid cooperative positioning with reference stations and distance dependent range corrections

Hybrid cooperative positioning fuses pseudoranges and ranging among peer nodes to figure out node positions. However, multipath, undetected direct path and various propagation delays often result in positive biased ranging and pseudorange measurements, which are the limiting factor in improving position precision. In this work, we propose a message passing algorithm for hybrid cooperative positioning, named hybrid sum-product algorithm over a wireless network with reference stations (HSPAWN-R). The proposed algorithm not only models and corrects the bias of ranging and pseudorange, but also explores ranging with references stations that have “known” positions in the message passing iteration. Extensive simulations are conducted, the results shows that the proposed HSPAWN-R significantly outperforms existing algorithms such as HSPAWN.