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Simultaneous Localization and Synchronization in Wireless Networks

Simultaneous Localization and Synchronization in Wireless Networks

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Bernhard Etzlinger

Cooperation
Institute for Telecommunications, TU Vienna
Department for Signals and Systems, Chalmers University of Technology

Description
We consider a decentralized mesh network of wireless nodes, where each node is able to communicate with its neighbors. Some of the nodes have prior information on their position and clock parameters. The communication among neighbors is timestamped, i.e., every node records the send time and receive time of a packet exchange. Based on this timing information, we aim to find distributed algorithms for self localization.
The resulting algorithms are fully distributed. All computations can be performed locally, and information only needs to be exchanged among neighbors.

Exemplary results of a mobile network with changing topology are shown below. One of the mobile agents serves as clock master. Clock and location parameters are time varying, and the self localization and synchronization results are depicted, together with true parameter settings:

Cooperative Localization and Synchronization: Network topology (top left), Clock parameters (top right), Localization accuracy (bottom left), Synchronization accuracy (bottom right)