Cooperative and distributed localization for wireless sensor networks in multipath environments

We consider the problem of sensor localization in a wireless network in a multipath environment, where time and angle of arrival information are available at each sensor. We propose a distributed algorithm based on belief propagation, which allows sensors to cooperatively self-localize with respect to one single anchor in a multihop network. Simulations show that although the network is loopy, the proposed algorithm converges with good accuracy, and achieves significant improvement compared with the pairwise localization.