Dynamic fine-grained localization in Ad-Hoc networks of sensors
Proceedings of the 7th annual international conference on Mobile computing and networking
Robust Positioning Algorithms for Distributed Ad-Hoc Wireless Sensor Networks
ATEC '02 Proceedings of the General Track of the annual conference on USENIX Annual Technical Conference
GPS-Free Positioning in Mobile ad-hoc Networks
HICSS '01 Proceedings of the 34th Annual Hawaii International Conference on System Sciences ( HICSS-34)-Volume 9 - Volume 9
On the effect of localization errors on geographic face routing in sensor networks
Proceedings of the 3rd international symposium on Information processing in sensor networks
On the error characteristics of multihop node localization in ad-hoc sensor networks
IPSN'03 Proceedings of the 2nd international conference on Information processing in sensor networks
Organizing a global coordinate system from local information on an ad hoc sensor network
IPSN'03 Proceedings of the 2nd international conference on Information processing in sensor networks
Relative location estimation in wireless sensor networks
IEEE Transactions on Signal Processing
Parameter estimation problems with singular information matrices
IEEE Transactions on Signal Processing
Cooperative localization bounds for indoor ultra-wideband wireless sensor networks
EURASIP Journal on Advances in Signal Processing
Optimal RSS threshold selection in connectivity-based localization schemes
Proceedings of the 11th international symposium on Modeling, analysis and simulation of wireless and mobile systems
Localization refinement for wireless sensor networks
Computer Communications
Error scaling laws for linear optimal estimation from relative measurements
IEEE Transactions on Information Theory
Ranging energy optimization for robust sensor positioning based on semidefinite programming
IEEE Transactions on Signal Processing
IEEE Transactions on Signal Processing
Energy-efficient collaborative tracking in wireless sensor networks
International Journal of Sensor Networks
EV-Loc: integrating electronic and visual signals for accurate localization
Proceedings of the thirteenth ACM international symposium on Mobile Ad Hoc Networking and Computing
Understanding the limits of RF-based collaborative localization
IEEE/ACM Transactions on Networking (TON)
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The localization problem is fundamentally important for sensor networks. This paper, based on "Estimation bounds for localization" by the authors (2004 © IEEE), studies the Cramér-Rao lower bound (CRB) for two kinds of localization based on noisy range measurements. The first is anchored localization in which the estimated positions of at least 3 nodes are known in global coordinates. We show some basic invariances of the CRB in this case and derive lower and upper bounds on the CRB which can be computed using only local information. The second is anchor-free localization where no absolute positions are known. Although the Fisher information matrix is singular, a CRB-like bound exists on the total estimation variance. Finally, for both cases we discuss how the bounds scale to large networks under different models of wireless signal propagation.