Intelligent Multisensor Cooperative Localization Under Cooperative Redundancy Validation

Localization plays a key role in Internet of Things. This paper proposes a novel intelligent cooperative multisensor localization method called the edge cloud cooperative localization (ECCL) which has the range and angle observations from the neighbor nodes along with the location observations from an absolute coordinate localization system like global positioning system. The edge cloud structure is proposed which employs several distributed Kalman filters in sensor nodes edge and a centralized cooperative fusion unit in the cloud. For a robust fusion, a cooperative redundancy validation method is proposed to detect the outliers. The proposed ECCL scheme has the advantages of both the distributed and centralized localization, which satisfies the needs of high reliability and high accuracy, especially when sensor nodes have limited computational resources. The simulation and experimental results show that our proposed ECCL algorithm outperforms the other schemes both in outlier detection and localization accuracy.