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This paper considers N mobile nodes that move together in the vicinity ofeach other, whose initial poses as well as subsequent movements must beaccurately tracked in real time with the assist of M(>=3) reference nodes. Byengaging the neighboring mobile nodes in a simple but effective cooperation,and by exploiting both the time-of-arrival (TOA) information (between mobilenodes and reference nodes) and the received-signal-strength (RSS) information(between mobile nodes), an effective new localization strategy, termedcooperative TOA and RSS (COTAR), is developed. An optimal maximum likelihooddetector is first formulated, followed by the derivation of a low-complexityiterative approach that can practically achieve the Cramer-Rao lower bound.Instead of using simplified channel models as in many previous studies, asophisticated and realistic channel model is used, which can effectivelyaccount for the critical fact that the direct path is not necessarily thestrongest path. Extensive simulations are conducted in static and mobilesettings, and various practical issues and system parameters are evaluated. Itis shown that COTAR significantly outperforms the existing strategies,achieving a localization accuracy of only a few tenths of a meter in clearenvironments and a couple of meters in heavily obstructed environments.

Mobile Wireless Localization through Cooperation