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Mobile infrastructure consists of one or more sensors in a xed conguration on a mobile platform. By moving the mobile platform in the environment and attaching a set of static tags to objects, one can localize these objects. It is especially useful in cases where permanent location infrastructure does not exist yet or too expensive to install. To localize tags, data has to be collected at various points and then fused to create a consistent location map of tags. One serious problem with such a procedure is that error from measurements propagates and accumulates. In this paper, authors present an error control mechanism to reduce this effect. The error control mechanism computes error estimate for each location estimate.
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