Grid-Based Belief Propagation for Cooperative Localization

TL;DR

This paper introduces Grid-BP, a grid-based belief propagation method for cooperative localization in wireless networks that offers faster computation and compatibility with existing coordinate systems, improving efficiency over traditional approaches.

Contribution

The paper proposes a novel grid-based parametric message representation for belief propagation, enabling faster and more compatible cooperative localization in wireless networks.

Findings

Achieves similar localization accuracy with reduced computational complexity.

Works effectively with existing grid-based coordinate systems like MGRS.

Demonstrates improved efficiency over non-parametric methods.

Abstract

We present a novel parametric message representation for belief propagation (BP) that provides a novel grid-based way to address the cooperative localization problem in wireless networks. The proposed Grid-BP approach allows faster calculations than non-parametric representations and works well with existing grid-based coordinate systems, e.g., NATO's military grid reference system (MGRS). This overcomes the hidden challenge inherent in all distributed localization algorithms that require a universally known global reference system (GCS), even though every node localizes using arbitrary local coordinate systems (LCSs) for a reference. Simulation results demonstrate that Grid-BP achieves similar accuracy at much reduced complexity when compared to common techniques that assume ideal reference