A survey and evaluation of iterative optimization algorithms for cooperative localization.

Phys. Commun.(2023)

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摘要
Cooperative localization (Co-localization) refers to the establishment of an objective function through relative measurements and obtaining the relative position information by solving the objective function, and is a typical optimization problem. The current research of cooperative localization is mainly the innovative application of specific algorithms in specific problems. It lacks the summary of typical optimization strategies, the comparative analysis of coordinate transformation strategies, and the evaluation criteria of positioning performance. This paper summarizes the design ideas, applicable conditions and detailed procedures of typical algorithms in the cooperative localization problem, and compares the accuracy, convergence speed and computational complexity of different algorithms through simulation experiments; summarizes two methods of coordinate transformation, and analyzes the performance of these methods through simulation experiments; summarizes Cramer–Rao lower bound (CRLB) of co-localization problem under the condition that relative measurement is unbiased estimation, and gives the specific steps to calculate CRLB under different spatial dimensions.
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关键词
Mobile cluster network,Cooperative localization,Optimization strategy,Coordinate transformation,CRLB
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