Cooperative Localization Using Posterior Linearization Belief Propagation

Garcia-Fernandez, Angel F ORCID: 0000-0002-6471-8455, Svensson, Lennart and Sarkka, Simo (2018) Cooperative Localization Using Posterior Linearization Belief Propagation IEEE TRANSACTIONS ON VEHICULAR TECHNOLOGY, 67 (1). pp. 832-836. ISSN 0018-9545, 1939-9359

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Abstract

This paper presents the posterior linearization belief propagation (PLBP) algorithm for cooperative localization in wireless sensor networks with nonlinear measurements. PLBP performs two steps iteratively: linearization and belief propagation. At the linearization step, the nonlinear functions are linearized using statistical linear regression with respect to the current beliefs. This SLR is performed in practice by using sigma-points drawn from the beliefs. In the second step, belief propagation is run on the linearized model. We show by numerical simulations how PLBP can outperform other algorithms in the literature.

Item Type:	Article
Uncontrolled Keywords:	Belief propagation, cooperative localization, Gaussian message passing, posterior linearization, sigma points
Depositing User:	Symplectic Admin
Date Deposited:	09 Apr 2018 07:07
Last Modified:	07 Dec 2024 20:31
DOI:	10.1109/TVT.2017.2734683
Related Websites:	Author Publisher
URI:	https://livrepository.liverpool.ac.uk/id/eprint/3019843
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