A distributed extended information filter for Self-Localization in Sensor Networks

—In this paper the Self-Localization problem for Sensor Networks is addressed. Given a set of nodes deployed in an environment, self-localization consists of finding out the location of all nodes in regard to any topology or metric of interest. Nodes are assumed to be equipped with a sensor board able to provide these inter-node distances. In addition, a few nodes are assumed to be equipped with some absolute position devices. According to this scenario, a new distributed algorithm based on an Extended Information Filter is proposed. This algorithm provides an accurate estimation of node positions with a reasonable computational complexity, even when in presence of noisy measurements. Real experiments, carried out by exploiting Micaz Motes platforms, have been performed to show the effectiveness of the proposed technique.

• Type: Conference
• Year: 2008
• Where: PIMRC
• Authors: Andrea Gasparri, Federica Pascucci, Giovanni Ulivi
• Keywords: Absolute Position Devices, Communications, PIMRC 2008, Reasonable Computational Complexity, Sensor Networks