Low-Complexity Pseudolite Network Self-Location Technique With Incomplete Distance Measurements

Beforehand surveying of the absolute locations of pseudolites in local positioning systems limits the application of local positioning system in some harsh environments. Derivation of locations from the mutual distances between pseudolites becomes a convenient method to estimate the configuration of the local positioning system. In practice, some distances are noisy and not measurable due to obstruction and signal fading. Based on the nonlinear conjugate gradient method, this paper utilizes partially available distances and the absolute locations of a small number of pseudolites to estimate the absolute locations of other pseudolites accurately. The proposed technique outperforms other techniques in aspects of accuracy and computational burden in most situations in simulations and the experiment, which is operable as a real-time algorithm and reduces the deployment cost in practice.