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  • https://doi.org/10.1109/tvt.2025.3622670Copy DOI Icon

Robust Distributed TOA-Based Localization for Multi-Hop MANET

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Abstract

In GPS-denied environments, accurate node localization is vital for mobile ad hoc networks (MANETs) across various applications, including disaster detection, factory automation, and security. In multi-hop MANETs, some nodes depend on imprecise neighbor nodes as dynamic anchors for cascaded localization because of insufficient base anchors. Due to inaccurate dynamic anchors and node flip ambiguity resulting from non-rigidly distributed dynamic anchors, the current Time of arrival (TOA) method suffers from the exponential growth of cascaded errors in distributed scenarios. The global Cramér-Rao lower bound (CRLB) based on the whole network can be employed for precise anchor analysis. However, the practically accessible information for distributed nodes is insufficient to retrieve the global CRLB. Accordingly, we first derive an approximate but effective local CRLB to restore the global results using limited single-hop information. Aided by this analysis, a multiple maximum likelihood estimator (MMLE) is devised to obtain high-precision dynamic anchors. Finally, we construct error circles with local CRLBs to mitigate flip ambiguity in dynamic changes and propose an advanced iterative Chan-PSO method based on CRLBs (ICPC) for TOA localization. Simulation results validate the robustness of our method in approximating the global CRLB of the target node and controlling linearly cascaded errors in multi-hop distributed MANETs.

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