Networkexperimentation for cooperative localization

Abstract—This paper introduces the notion of network ex-perimentation and proposes an experimentation methodology particularly suited for cooperative wireless networks. Based on this methodology we performed extensive measurement cam-paigns and compare various cooperative localization techniques under a common setting. Network experiments enable (i) the quantification of cooperation benefits, (ii) the development of techniques for harnessing environmental information, and (iii) the characterization of network localization algorithms. As a case study, we consider ultrawide bandwidth cooperative location-aware networks in cluttered indoor environments and evaluate their performance based on measurements collected from net-work experiments. Index Terms—Network experimentation, cooperative localiza-tion, channel characterization, ultrawide bandwidth. I