A variational message passing algorithm for cooperative localization in wireless networks

We propose a novel algorithm for cooperative localization in wireless networks where relative node distances are available. The proposed algorithm is a trimodal version of variational message passing (VMP). Compared to VMP and bimodal VMP algorithms, the so called tri-VMP algorithm features better localization accuracy for almost the same complexity and cost. This is supported by simulations and measurements which show a significant improvement in positioning accuracy.