Robust localisation algorithm for solving neighbour position ambiguity

Localisation error due to sensitivity to position ambiguity, with respect to some neighbouring nodes, is a major problem in wireless localisation. To solve this problem, the tangent linear approximation (TLA) for the nonlinear localisation model is derived, contributing to incorporating the effect of the neighbours´ position ambiguity into belief propagation (BP) localisation. Theoretical analysis and numerical results indicate that the TLA-BP algorithm can acquire higher accuracy and convergence probability compared with other typical methods.