Node Selection in a Cooperating Position Finding Distributed System Concerning the Computational Complexity Reduction

Cooperative positioning utilizes information received from all the nodes in a network to estimate the position of a target node. This requires high amount of data exchange and data processing in high density networks. This paper proposes a low computational complexity algorithm to select a number of nodes among all possible nodes to cooperate in position finding. Position of nodes are estimated using both the distances between the target node and its cooperated nodes and also the information shared by these nodes. The nodes selection algorithm is proposed according to the Cramer-Rao Lower Bound, which considers the precision of distance measurements, the geometry of nodes and the uncertainty in the information shared by nodes. This fast computing algorithm reduces required computations without significantly decreasing the position estimation performance.