Cooperative localization using posterior linearization belief propagation

This paper presents the posterior linearisation belief propagation (PLBP) algorithm for cooperative localisation in wireless sensor networks with nonlinear measurements. PLBP performs two steps iteratively: linearisation and belief propagation. At the linearisation step, the nonlinear functions are linearised using statistical linear regression with respect to the current beliefs. This SLR is performed in practice by using sigma-points drawn from the beliefs. In the second step, belief propagation is run on the linearised model. We show by numerical simulations how PLBP can outperform other algorithms in the literature.