Cramér-Rao Bound for Hybrid GNSS-Terrestrial Cooperative Positioning

In this contribution we derive an expression of the Cramer-Rao bound for hybrid cooperative positioning, where GNSS information is combined with terrestrial range measurements through exchange of peer-to-peer messages. These results provide a theoretical characterization of achievable performance of hybrid positioning schemes, as well as allow to identify critical network configurations and devise optimized node placement strategies

Cramér-Rao, Bound for Hybrid Peer-to-Peer Positioning

Presented at IEEE Communication Theory Workshop (CTW), Cancun, Mexico, May 10-12, 2010. PROCEEDINGS ARE NOT AVAILABL

Cramér-Rao, Bound for Hybrid Peer-to-Peer Positioning

Presented at IEEE Communication Theory Workshop (CTW), Cancun, Mexico, May 10-12, 2010. PROCEEDINGS ARE NOT AVAILABLE

Hybrid Cooperative Positioning Based on Distributed Belief Propagation

We propose a novel cooperative positioning algorithm that fuses information from satellites and terrestrial wireless systems, suitable for GPS-challenged scenarios. The algorithm is fully distributed over an unstructured network, does not require a fusion center, does not rely on fixed terrestrial infrastructure, and is thus suitable for ad-hoc deployment. The proposed message passing algorithm, named hybrid sum-product algorithm over a wireless network (H-SPAWN), is described and analyzed. A novel parametric message representation is introduced, to reduce computational and communication overhead. Through simulation, we show that H-SPAWN improves positioning availability and accuracy, and outperforms hybrid positioning algorithms based on conventional estimation techniques