Research on an Advanced Cooperative Censored Positioning Algorithm in Wireless Sensor Networks

  • Guolong Zhang
  • Lan ZhangEmail author
  • Jinpu Li
  • Bing Wang
Conference paper
Part of the Lecture Notes in Electrical Engineering book series (LNEE, volume 528)


In cooperative positioning, the additional information from agent-to-agent links helps more agents complete their position estimates, but at the same time, leads to increased network traffic and even degraded positioning accuracy. Transmit and receive censoring can significantly reduce complexity and network traffic without hampering the positioning performance. In this paper, an advanced combined censored positioning algorithm is proposed to further reduce the use of invalid information links. Specifically, a method in the algorithm with variable step size has a positive impact on accuracy. The simulation results manifest that the proposed algorithm is efficient to reduce computational complexity and improve positioning performance.


Cooperative positioning Cramer-Rao bound Transmit censoring Receive censoring Variable step size 


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Copyright information

© Springer Nature Singapore Pte Ltd. 2019

Authors and Affiliations

  1. 1.School of Automation Electronic EngineeringUniversity of Science & Technology BeijingBeijingChina
  2. 2.Tianjin Zhongwei Aerospace Data System Technology Co., Ltd.TianjinChina

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