A robustness analysis of multi-hop ranging-based localization approximations

摘要

In this study, we implement six ranging-based localization algorithms from the literature and evaluate them in simulations that employ real-world ultrasound ranging data. We find that small variations in the ranging model can lead to large variations in localization error. We analyze each algorithm to identify how implicit assumptions may be violated by empirical ranging data and why this changes the behavior of the algorithm.