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HEVA: Cooperative Localization using a Combined Non-Parametric Belief Propagation and Variational Message Passing Approach

Oikonomou-Filandras, PA; Wong, K; (2016) HEVA: Cooperative Localization using a Combined Non-Parametric Belief Propagation and Variational Message Passing Approach. Journal of Communications and Networks , 18 (3) pp. 397-410. 10.1109/JCN.2016.000055. Green open access

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Abstract

This paper proposes a novel cooperative localization method for distributed wireless networks in 3-dimensional (3D) global positioning system (GPS) denied environments. The proposed method, which is referred to as hybrid ellipsoidal variational algorithm (HEVA), combines the use of non-parametric belief propagation (NBP) and variational Bayes (VB) to benefit from both the use of the rich information in NBP and compact communication size of a parametric form. InHEVA, two novel filters are also employed. The first one mitigates non-line-of-sight (NLoS) time-of-arrival (ToA) messages, permitting it to work well in high noise environments with NLoS bias while the second one decreases the number of calculations. Simulation results illustrate that HEVA significantly outperforms traditional NBP methods in localization while requires only 50% of their complexity. The superiority of VB over other clustering techniques is also shown.

Type: Article
Title: HEVA: Cooperative Localization using a Combined Non-Parametric Belief Propagation and Variational Message Passing Approach
Open access status: An open access version is available from UCL Discovery
DOI: 10.1109/JCN.2016.000055
Publisher version: http://dx.doi.org/10.1109/JCN.2016.000055
Language: English
Additional information: © 2016 IEEE. Personal use of this material is permitted. Permission from IEEE must be obtained for all other uses, in any current or future media, including reprinting/republishing this material for advertising or promotional purposes, creating new collective works, for resale or redistribution to servers or lists, or reuse of any copyrighted component of this work in other works.
Keywords: Cooperative localization, Non-line-of-sight (NLoS), Non-parametric belief propagation, Variational Bayes
UCL classification: UCL
UCL > Provost and Vice Provost Offices > UCL BEAMS
UCL > Provost and Vice Provost Offices > UCL BEAMS > Faculty of Engineering Science
UCL > Provost and Vice Provost Offices > UCL BEAMS > Faculty of Engineering Science > Dept of Electronic and Electrical Eng
URI: https://discovery.ucl.ac.uk/id/eprint/1502373
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