Distributed Cooperative Localization Based on a Mix of Single-Site AOA and Multi-Site TDOA with Heterogeneous Sensors

Source localization is an important problem in wireless sensor networks. However, current localization methods mainly consider homogeneous sensor with data such as distance or angle and lack the analysis for localization with heterogeneous sensors. In this work, we establish a localization model for the set-ting where the time difference of arrival (TDOA) measurements and angle of arrival (AOA) measurements coexists. Considering the sensor self-position errors and measurement noises, we design a weighted matrix based on minimising the sum of squares of the residuals. We then incorporate it to the optimization object for each sensor node to improve the localization accuracy. Moreover, we design a novel distributed algorithm based on the alternating direction method of multipliers (ADMM) to solve this localization problem. The simulation results show that the proposed algorithm can achieve localization under heterogeneous measurements along with various error and noisy environments.