Abstract: A centralized cooperative positioning method includes: caching measurements of nodes in multiple time slices up to the current time slice; calculating location information of the nodes in the multiple time slices to obtain trajectory of the nodes in the multiple time slices; performing initial state estimations of the nodes based on measurements of a single time slice; and using the initial state estimations as initial solution values, performing the joint time-space processing on the measurements of the nodes in the multiple time slices based on trajectory constraints, to obtain a state estimation of each node at the current time slice, in which the state estimation includes an estimated value of a location of the node.

Abstract: A centralized cooperative positioning method includes: caching measurements of nodes in multiple time slices up to the current time slice; calculating location information of the nodes in the multiple time slices to obtain trajectory of the nodes in the multiple time slices; performing initial state estimations of the nodes based on measurements of a single time slice; and using the initial state estimations as initial solution values, performing the joint time-space processing on the measurements of the nodes in the multiple time slices based on trajectory constraints, to obtain a state estimation of each node at the current time slice, in which the state estimation includes an estimated value of a location of the node.

Abstract: The present disclosure provides a method and an electronic device for obtaining location information. Available measurement of a target node and multi-hop nodes in multiple consecutive time slices is obtained. A prediction is performed on the unavailable measurement due to the transmission delay to obtain prediction information. Location information of these nodes in the multiple time slices is obtained based on state variables of the target node and multi-hop nodes in the current time slice and mobility constraints, for reconstructing the trajectory information of these nodes. State information of these nodes in the current time slice is initially estimated based on available measurement to obtain initial state estimation in the current time slice. State estimation of these nodes in the current time slice is obtained by jointly processing the available measurement and the prediction information based on the trajectory constraints and the initial state estimation.

Abstract: The present disclosure provides a method and an electronic device for obtaining location information. Available measurement of a target node and multi-hop nodes in multiple consecutive time slices is obtained. A prediction is performed on the unavailable measurement due to the transmission delay to obtain prediction information. Location information of these nodes in the multiple time slices is obtained based on state variables of the target node and multi-hop nodes in the current time slice and mobility constraints, for reconstructing the trajectory information of these nodes. State information of these nodes in the current time slice is initially estimated based on available measurement to obtain initial state estimation in the current time slice. State estimation of these nodes in the current time slice is obtained by jointly processing the available measurement and the prediction information based on the trajectory constraints and the initial state estimation.