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Performance Analysis of Patch and Stitch Localization Algorithm in Relative and Transformation Domain

Patch and stitch strategy is a preferred cooperative localization method because it merges the merits of the accuracy and the scalability in centralized and distributed algorithms respectively. This paper investigates how to partition the network through Cramér-Rae lower bound (CRLB) analysis for the relative and global transformation error, which reveals the nature of error propagation and suggests some methods to overcome it.