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Distributed spatio-temporal information based cooperative 3D positioning in GNSS-denied environments

Distributed spatio-temporal information based cooperative 3D positioning in GNSS-denied environments
Distributed spatio-temporal information based cooperative 3D positioning in GNSS-denied environments
A distributed spatio-temporal information based cooperative positioning (STICP) algorithm is proposed for wireless networks that require three-dimensional (3D) coordinates and operate in the global navigation satellite system (GNSS) denied environments. Our algorithm supports any type of ranging measurements that can determine the distance between nodes. We first utilize a finite symmetric sampling based scaled unscented transform (SUT) method for approximating the nonlinear terms of the messages passing on the associated factor graph (FG) with high precision, despite relying on a small number of samples. Then, we propose an enhanced anchor upgrading mechanism to avoid any redundant iterations. Our simulation results and analysis show that the proposed STICP has a lower computational complexity than the state-of-the-art belief propagation based localizer, despite achieving an even more competitive positioning performance.
0018-9545
Cao, Yue
ea5c8482-c5aa-4b5e-b8a3-0a3cb509edf1
Yang, Shaoshi
2d6e3926-97e9-410b-90d2-28d02e5183a3
Feng, Zhiyong
bc023e8d-04ea-4a9a-b8a7-f67b432a4bce
Wang, Lihua
81a30ec6-a4df-4b47-96e5-2194cf0186ef
Hanzo, Lajos
66e7266f-3066-4fc0-8391-e000acce71a1
Cao, Yue
ea5c8482-c5aa-4b5e-b8a3-0a3cb509edf1
Yang, Shaoshi
2d6e3926-97e9-410b-90d2-28d02e5183a3
Feng, Zhiyong
bc023e8d-04ea-4a9a-b8a7-f67b432a4bce
Wang, Lihua
81a30ec6-a4df-4b47-96e5-2194cf0186ef
Hanzo, Lajos
66e7266f-3066-4fc0-8391-e000acce71a1

Cao, Yue, Yang, Shaoshi, Feng, Zhiyong, Wang, Lihua and Hanzo, Lajos (2022) Distributed spatio-temporal information based cooperative 3D positioning in GNSS-denied environments. IEEE Transactions on Vehicular Technology. (doi:10.1109/TVT.2022.3202015).

Record type: Article

Abstract

A distributed spatio-temporal information based cooperative positioning (STICP) algorithm is proposed for wireless networks that require three-dimensional (3D) coordinates and operate in the global navigation satellite system (GNSS) denied environments. Our algorithm supports any type of ranging measurements that can determine the distance between nodes. We first utilize a finite symmetric sampling based scaled unscented transform (SUT) method for approximating the nonlinear terms of the messages passing on the associated factor graph (FG) with high precision, despite relying on a small number of samples. Then, we propose an enhanced anchor upgrading mechanism to avoid any redundant iterations. Our simulation results and analysis show that the proposed STICP has a lower computational complexity than the state-of-the-art belief propagation based localizer, despite achieving an even more competitive positioning performance.

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Distributed Spatio-Temporal Information Based Cooperative 3D Positioning in GNSS-Denied Environments - Accepted Manuscript
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More information

Accepted/In Press date: 15 August 2022
e-pub ahead of print date: 26 August 2022

Identifiers

Local EPrints ID: 469659
URI: http://eprints.soton.ac.uk/id/eprint/469659
ISSN: 0018-9545
PURE UUID: 5545b3de-36cc-4d69-9aef-4b043a83f322
ORCID for Lajos Hanzo: ORCID iD orcid.org/0000-0002-2636-5214

Catalogue record

Date deposited: 21 Sep 2022 17:03
Last modified: 22 Sep 2022 01:32

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Contributors

Author: Yue Cao
Author: Shaoshi Yang
Author: Zhiyong Feng
Author: Lihua Wang
Author: Lajos Hanzo ORCID iD

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