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The accuracy of cooperative localization degrades significantly in the non-line-of-sight (NLOS) environments. In addition, the computational complexity of the localization problem often increases dramatically as the scale of a wireless sensor network (WSN) grows. To address these challenges, we propose a distributed NLOS cooperative localization algorithm. First, we propose a new multiplicative model based on the physical mechanism of the NLOS propagation and relax the proposed non-convex model into its convex envelope. This model has a powerful capability to mitigate the NLOS impact and remarkable robustness in changing environments. Second, we design a redundant formulation to decompose the convex problem into numerous sub-problems and then develop an efficient distributed algorithm, which enables each sensor node to locally solve each sub-problem in a parallel way, to decrease the computational complexity. The theoretical analysis and simulations show that the proposed algorithm is superior to the existing methods in both processing speed and localization accuracy.

Robust Distributed Cooperative Localization With NLOS Mitigation Based on Multiplicative Convex Model