naa a22 4500 51079761X CHVBK 20180411083342.0 cr unu---uuuuu 180411e20130901xx s 000 0 eng 10.1007/s11277-013-1002-6 doi (NATIONALLICENCE)springer-10.1007/s11277-013-1002-6 Arias-de-Reyna Eva Department of Signal Theory and Communications, University of Seville, Camino de los Descubrimientos s/n, 41092, Seville, Spain aut A Cooperative Localization Algorithm for UWB Indoor Sensor Networks [Elektronische Daten] [Eva Arias-de-Reyna] This paper deals with range-based localization in ultra wideband sensor networks, allowing for the possibility of large range measurement errors because of a failure to detect the direct paths between some nodes. A novel algorithm is proposed that uses only partial knowledge of the service area topology, particularly of the positions of objects which are capable of causing undetected direct path (UDP) propagation conditions. Although the spirit of the proposed approach, because of the lack of information on the range error statistics, is to remove measurements performed under UDP conditions from the computation of the location estimate, these measurements are used implicitly by the algorithm to contribute to the erroneous trial locations being discarded. A cooperative stage is included that allows the probability of localization of a target with an insufficient initial number of accurate range measurements to increase. The proposed algorithm outperforms a variety of alternative positioning techniques, and thus illustrates the capability of this topology knowledge to mitigate the UDP problem, even in the absence of any knowledge about the range error statistics. Springer Science+Business Media New York, 2013 UWB nationallicence Indoor localization nationallicence Undetected direct path nationallicence Wireless Personal Communications Springer US; http://www.springer-ny.com 72/1(2013-09-01), 85-99 0929-6212 72:1<85 2013 72 11277 https://doi.org/10.1007/s11277-013-1002-6 text/html Onlinezugriff via DOI 1 research-article jats NATIONALLICENCE 856 40 https://doi.org/10.1007/s11277-013-1002-6 text/html Onlinezugriff via DOI NATIONALLICENCE 100 1- Arias-de-Reyna Eva Department of Signal Theory and Communications, University of Seville, Camino de los Descubrimientos s/n, 41092, Seville, Spain aut NATIONALLICENCE 773 0- Wireless Personal Communications Springer US; http://www.springer-ny.com 72/1(2013-09-01), 85-99 0929-6212 72:1<85 2013 72 11277 Metadata rights reserved Springer special CC-BY-NC licence nationallicence BK010053 XK010053 XK010000 NATIONALLICENCE NATIONALLICENCE NL-springer