Pioneer: Positioning of Targets in Featureless Gps Denied Environments

Ground-based positioning solutions are critical in featureless, Global Positioning System or GPS-denied environments, where traditional infrastructure-based methods are unavailable. This paper introduces PIONEER a novel ground-based positioning solution that enables the targets to collaboratively determine their positions without reliance on external infrastructure. PIONEER operates by utilizing the received signal strength among targets to minimize their positioning errors and reduce the pseudorange measurement errors, thus enhancing the overall positioning accuracy. PIONEER models the targets' interactions as a potential game with a proven Pure Nash Equilibrium (PNE), guiding the optimal transmission power levels and the peer-targets selection. Two learning-based distributed algorithms, Best Response and Better Reply Dynamics, are introduced to determine the PNE based on the exploitation and exploration processes, respectively. Experimental results conducted in featureless terrains demonstrate the PIONEER's operational advantages, outperforming existing alternatives in reducing the positioning errors and proving its real-world applicability.