Cooperative localization based on an evolved variational message passing algorithm

Abstract

In this paper, we propose a novel algorithm for cooperative localization in Wireless Networks where relative node distances are available. The proposed algorithm is an evolved version of Variational Message Passing (VMP) algorithm. It has the advantage to avoid the simultaneous update of the position estimate done in parallel by all the nodes. This parallel update is the original cause of the VMP positioning errors. Compared to the others VMP algorithms, the enhanced VMP algorithm presents better localization accuracy for lower complexity and cost. This is supported by simulations and measurements which illustrate a very important improvement in positioning accuracy.