Navigation Performance in Dynamic Spatiotemporal Cooperative Networks

In network localization and navigation (NLN), mobile agents leverage spatiotemporal cooperation to provide reliable location information for various wireless applications. However, existing network navigation frameworks, based on quasi-static assumptions, overlook Doppler information, leading to model errors in dynamic scenarios. In such scenarios, the positions of the agents during transmission and reception undergo shifts that violate the symmetry assumption of round-trip measurements. Furthermore, how the information coupling arising from uncertain anchors impacts agent location awareness and spatiotemporal cooperation in dynamic environments, remains understudied. To bridge this gap, we introduce the dynamic spatiotemporal cooperation network navigation framework. First, we incorporate Doppler information into the direct positioning measurement model and, using equivalent Fisher information analysis, derive the impacts of non-line-of-sight conditions, multipath reception, and clock asynchrony on the positioning performance in dynamic environments. Subsequently, we explore the information-coupling phenomenon among agents arising from anchors conveying uncertain information. Furthermore, the effect on location awareness of state deviations among agents during transmission and reception is investigated by introducing intra-node measurements. Finally, we reconstructed the network navigation based on spatiotemporal cooperation in dynamic scenarios. We verified our framework through simulations and evaluated its performance under different parameters. The insights garnered from this study have the potential to guide precise network deployment and facilitate efficient network operations in dynamic environments.