Cooperative localization in wireless networks under bandwidth constraints

This work studies algorithms that require minimum size of exchanged messages between cooperating (for localization purposes) nodes. It is motivated by long-baseline (LBL) acoustic positioning in underwater systems, where acoustic modems are narrow-band and thus, exchanging large amounts of data among network nodes is prohibitive. Bandwidth-limited versions of cooperative localization algorithms are proposed that achieve two- to three-orders of magnitude reduction of total exchanged numbers, for the studied scenario. Despite the size reduction of the exchanged messages, localization accuracy is not compromised, compared to state-of-the-art wide-band cooperative localization. Furthermore, new bandwidth- and computation-efficient versions are proposed and tested for given topology. The algorithms have been evaluated with Gaussian, as well as non-Gaussian unimodal ranging error models.