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Massively parallel cooperative localisation in scalable sensor networks

In this paper, we introduce novel concepts in cooperative localisation which enables new classes of spatial positioning services useful in ad-hoc and sensor network topologies. A powerful new feature of this research is the introduction of spectrally efficient multi-carrier modulation based upon orthogonal frequency division multiplexing (OFDM) as the basis of a time localisation approach using frequency domain observations. We demonstrate centimetre resolution in one million metre² areas, the ability to localise nearly 1,000 nodes in parallel, and to dynamically trade-off high levels of parallel operations versus higher spatial resolution with less parallelism. The choice of OFDM was motivated by our desire to investigate very large scale localisation protocols with larger data observations sets and to integrate the localisation with signalling. We present powerful concepts in massively parallel cooperative localisation with extensions to sensor networks. We derive both systematic framework equations and illustrate fundamental wireless simulation results.