Robust decentralized localization in impulsive noise

This paper considers the problem of range-based decentralized localization in wireless sensor networks when the impulsive measurement noise is present. We develop a robust localization estimator requiring no a priori knowledge of the noise distribution. The approach to robust localization presented here follows the concept of M-estimation and is implemented in a decentralized manner thus suiting the dynamic nature of wireless networks. The performance of the proposed scheme is verified by simulations.