Range-aided Localization in Noisy Wireless Sensor Networks

This paper proposes a localization framework for range-aided single-robot or multi-robot systems. The proposed lo-calization framework can fuse different kinds of measurements for trajectory estimation. The proposed localization framework is not only model-free but also suitable for single channel communication systems. The designed sliding trajectory window reduces the computation such that the proposed localization framework is applicable to ultra-low power systems. Based on the proposed framework, the range-only-based pose estimation and range-velocity-based relative localization are presented. Moreover, the proposed framework is extended to the WiFi-based localization. The simulation and experimental results demonstrate the good localization performance of the proposed method.