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Cooperative Localization Using Received Signal Strength and Least Squares Estimation Methods



Nader Moayeri


In this paper we use two Recursive Least Squares (RLS) estimation methods to solve the cooperative localization problem based on Wi-Fi received signal strength measurements between pairs of nodes in a network that can establish communication links. A link can be between an anchor node and a non-anchor node or between a pair of non-anchor nodes. It is the latter piece of information that makes cooperation possible and this problem different from multilateration. We evaluate the performance of Newton-Raphson and Gauss-Newton RLS methods and show that cooperation can offer significant gains in performance over multilateration, which does not use cooperation.
Proceedings Title
Proceedings of IPIN 2023
Conference Dates
September 23-28, 2023
Conference Location
Nuremberg, DE
Conference Title
IPIN 2023 International Conference on Indoor Positioning and Indoor Navigation


indoor localization, cooperative localization, multilateraion, least squares estimation, received signal strength, Newton-Raphson method, Gauss-Newton method


Moayeri, N. (2023), Cooperative Localization Using Received Signal Strength and Least Squares Estimation Methods, Proceedings of IPIN 2023, Nuremberg, DE, [online],, (Accessed June 12, 2024)


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Created December 6, 2023, Updated January 16, 2024