P2P Ranging‐Based Cooperative Localization Method for a Cluster of Mobile Nodes Containing IR‐UWB PHY

The problem of pedestrian localization using mobile nodes containing impulse radio ultra wideband (IR‐UWB) is considered. IEEE 802.15.4a‐based IR‐UWB can achieve accurate ranging. However, the coverage is as short as 30 m, owing to the restricted transmit power. This factor may cause a poor geometric relationship among the mobile nodes and anchor nodes in certain environments. To localize a group of pedestrians accurately, an enhanced cooperative localization method is proposed. We describe a sequential algorithm and define problems that may occur in the implementation of the algorithm. To solve these problems, a batch algorithm is proposed. The batch algorithm can be carried out after performing the sequential algorithm to linearize the nonlinear range equation. When a sequential algorithm cannot be performed due to a poor geometric relationship among nodes, a batch algorithm can be carried out directly. Herein, Monte Carlo simulations are presented to illustrate the proposed method and verify its performance.