Manet Localization via Multi-Node TOA-DOA Optimal Fusion

This paper presents a multi-node 2-Dimensional (2D) time-of-arrival (TOA) and direction-of-arrival (DOA) optimal fusion technique. This technique can be applied in ad-hoc networks, especially suitable for the application in the mobile ad-hoc networks (MANETs). In this work, positioning error in MANETs would be optimized via TOA-DOA joint estimation and fusion across multiple nodes. In the proposed MANET, we assume two categories of nodes: Those equipped with antenna arrays (base-nodes) and those equipped with omni-directional antennas (target-nodes). All nodes are capable of communicating with other nodes. Base-nodes are capable of positioning (TOA-DOA estimation) other nodes located in their coverage area. A fusion method is proposed to minimize the mean square of the positioning error of a target-node, when more than one base-node estimates its position. The fusion scheme is derived theoretically and compared with simulation results. This paper depicts the capability of the proposed 2D fusion algorithm to considerably reduce the positioning error. The proposed technique has important applications in GPS-denied environments