Cooperative Localization with Velocity-Assisted for Mobile Wireless Sensor Networks

Location awareness is a critical part of wireless sensor network, especially for location-based services which network activities require the exact position of sensors. Compared with non-cooperative localization, the cooperation among sensors facilitates localization accuracy as well as coverage in adverse environments. This paper proposes a cooperative localization algorithm for mobile nodes by exploiting the velocity information of the mobile nodes. We first derive a n on-convex localization problem based on the distance and velocity measurements and then formulate it into a convex optimization problem by the second-order cone program (SOCP) relaxation technology. Furthermore, to take full advantage of the node's mobility, we propose an adaptive fusion method to fuse the location estimation result of mobility model and SOCP estimator. Simulation results show that localization accuracy could be improved significantly with the assistance of velocity information in the localization process. Moreover, velocity-Assisted cooperative localization is beneficial to solve the localization problems which are sensitive to ranging errors.