Network Localization and Navigation With Scalable Inference and Efficient Operation

Location-aware networks enable new services and applications in fields such as autonomous driving, smart cities, and the Internet-of-Things. Network localization and navigation (NLN) is a recently proposed paradigm for accurate ubiquitous localization without the need for extensive infrastructure. In NLN, devices form an interconnected network for the purpose of cooperatively localizing one another. This paper introduces Peregrine, a system that combines real-time distributed NLN algorithms with ultra-wideband (UWB) sensing and communication. The Peregrine software integrates three NLN algorithms to jointly perform 3-D localization and network operation in a technology agnostic manner, leveraging both spatial and temporal cooperation. Peregrine hardware is composed of compact low-cost devices that comprise a microprocessor and a UWB radio. The contribution of each algorithmic component is characterized through indoor network experimentation. Results show that Peregrine is robust, scalable, and capable of sub-meter accuracy in challenging wireless environments.