Particle swarm optimization-based particle filter for cooperative localization in wireless networks

摘要

We propose a novel cooperative localization algorithm called PSO-PF algorithm based on particle swarm optimization enhanced particle filter that fuses information from both anchors with known positions and agents with unknown positions in wireless networks. The proposed algorithm for localization is fully distributed and can eliminate the loss of diversity caused by resampling in particle filter. Simulation results show that the proposed algorithm outperforms the particle filter on the accuracy with less particles in the challenged scenarios for cooperative localization. Moreover, the proposed algorithm is superior performance on convergence to the particle filter in cooperative localization.