error characteristics of ad hoc positioning systems (aps)
APS algorithms use the basic idea of distance vector routing to find positions in an ad hoc network using only a fraction of landmarks, for example GPS enabled nodes. All the nodes in the network are assumed to have the possibility of measuring: range, angle of arrival (AOA), orientation, or a combination of them. We give a lower bound for positioning error in a multihop network for a range/angle free algorithm, and examine the error characteristic of four classes of multihop APS algorithms under various condition, using theoretical analysis and simulations. Analysis of range/angle free, range based, angle based, and multimodal algorithms show a complex tradeoff between the capabilities used, the density of the network, ratio of landmarks, and the quality of the position obtained.
errors ad hoc positioning system posit systems aps algorithm use distance vectorization routing ad hoc networks network landmark examples measurement orientation combinational lower bound class analysis simulation multimodality complexity capabilities quality multihop positioning cram&#233 r-rao lower bound error analysis ad-hoc