Cooperative Group Localization Based on Factor Graph for Next-Generation Networks

In this paper, the WFG-CGL algorithm and the LCFGCGL algorithm are proposed in ill conditions. Especially for WFG-CGL algorithm, the weights based on the information reliability are incorporated into the algorithm in order to obtain higher localization accuracy. The corresponding analysis and simulations show that the proposed algorithms can relax the demand for CGL topology and provide high localization accuracy under low complexity in comparison with the existing CGL algorithm. Moreover, the important factors and CRLB for FG-based localization are analyzed.