WSN Implementation of Cooperative Localization

Cooperative localization increases the accuracy of location estimates especially in networks with sparse anchor deployment. In this work, its implementation in low-cost low-power wireless sensor networks is presented. A WSN hardware platform with ultra-wideband ranging and communication is shown and the application of a belief propagation based cooperative localization algorithm discussed. With a simple channel access scheme and a standard ranging method, the main sources of error are discussed and indoor evaluations of the system are conducted.