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Many iterative localization schemes suffer from the negative effect of error propagation, where sensor noise results in estimation errors which then get accumulated and amplified over localization iterations. This paper extends the authors' earlier work in mobile-infrastructure based localization and proposes a computationally efficient error control mechanism to mitigate the error propagation effect. In particular, the authors show how the error can be characterized and controlled. Simulation results have shown that their error control mechanism achieves comparable location accuracy as global optimization-based localization methods and has the advantage of being much more computationally efficient and easily distributable.
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