Passive localization with inaccurate receivers based on Gaussian belief propagation on factor graph

Location awareness is now becoming vital requirement for many practical applications. In this paper, we consider a wireless network where there is one transmitter and multiple receivers and they aim to locate a passive target. Existing studies on passive localization assume receivers' positions are perfectly known. However, receivers' positions are generally inaccurate in actual scenarios. A factor graph based message passing algorithm is proposed to locate the passive target with inaccurate receivers. The nonlinear term in likelihood function is linearized to solve the intractable integrals. Accordingly, all messages on factor graph are obtained in Gaussian closed forms which reduce the computational complexity significantly. Simulation results show the proposed algorithm can not only estimate the target's position accurately but also determine the receivers' positions simultaneously with low complexity.