Intelligent Multisensor Cooperative Localization Under Cooperative Redundancy Validation

Localization plays a key role in Internet of Things. This paper proposes novel intelligent cooperative multisensor localization method called the edge cloud (ECCL) which has range and angle observations from neighbor nodes along with location an absolute coordinate system like global positioning system. The structure is proposed employs several distributed Kalman filters sensor centralized fusion unit cloud. For robust fusion, redundancy validation to detect outliers. ECCL scheme advantages both localization, satisfies needs high reliability accuracy, especially when have limited computational resources. simulation experimental results show that our algorithm outperforms other schemes outlier detection accuracy.