Wideband cooperative localization via belief condensation

The combination of wideband transmission and cooperative techniques can enable accurate and reliable wireless localization. However, due to the nonlinear/non-Gaussian behavior in the system and measurement models, current cooperative localization algorithms either cannot capture such behavior or suffer from high computational complexity. In this paper, we establish a general framework for designing cooperative localization algorithms based on belief condensation (BC), which is an iterative process that accurately approximates the intractable distribution of nodes´ positions arising in cooperation by amenable parametric ones. Our simulation results show that the proposed method can obtain high accuracies, approaching the theoretical benchmark, with an affordable complexity.