Universal Cooperative Localizer for WSN With Varied Types of Ranging Measurements

This letter proposes a universal cooperative localizer (UCL) for wireless sensor network (WSN) with varied types of ranging measurements including time-of-arrival, radio signal strength, angle-of-arrival, and Doppler frequency. By representing the WSN node positions as complex numbers, the localization problem is converted as a generalized linear mixing problem, and then resolved by generalized approximate message passing with the importance sampling mechanism. The computational complexity of UCL is two orders lower than that of the belief propagation localizer. Simulation results validate that UCL outperforms most mainstream localizers, and cooperation significantly enhances the positioning accuracy.