Research on Cooperative Positioning Based on Convex Optimization in LOS/NLOS Environment

In order to reduce the positioning errors and improve the accuracy of nodes in wireless sensor networks under LOS/NLOS environment, it proposes a robust weighted least squares semi definite programming (RWLS-SDP) algorithm based on the cooperative positioning model, which transforms the highly nonlinear and non Gaussian positioning into a convex optimization problem, and then quickly obtains a sub-optimal solution of the original problem. The simulation results show that RWLS-SDP algorithm has the best positioning performance compared with several traditional estimation algorithms.