Designing schedules and Filter for cooperative localization

Abstract: In scheduled cooperative localization, devices in a network transmit pulses in a predetermined order. Every node measures inter-arrival time between received pulses to localize other nodes in the network. This thesis has looked into a few aspects of schedule based cooperative localization.First part of the thesis discusses constraints on schedule construction and algorithm to construct a schedule. An algorithm is proposed to design all possible schedules for any number of nodes.The second part of this thesis discusses designing a filter to process inter-arrival times to estimate position of all other nodes in the network. Every node runs a Kalman fi lter. Simulation results are presented for a fi lter model. Complexity of implementing the designed fi lter is discussed. A comparison is made between various ways to invert the matrix by QR decomposition. And finally, increase in fi lter complexity at every node with increase in number of nodes in network is discussed.