This letter addresses the problem of simultaneous localization of multiple targets in three-dimensional cooperative wireless sensor networks. To this end, integrated received signal strength and angle of arrival measurements are employed. By exploiting the convenient nature of spherical representation of the considered problem, the measurement models are linearized and a sub-optimal estimator is formulated. Unlike the maximum likelihood estimator, which is highly non-convex and difficult to tackle directly, the derived estimator is quadratic and has a closed-form solution. Its computational complexity is linear in the number of connections and its accuracy surpasses the accuracy of existing ones in all considered scenarios.
- angle of arrival (AOA)
- Network localization
- received signal strength (RSS)
- weighted least squares (WLS)