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Cooperative Positioning

The JAVA applet below calculates the Cramér-Rao lower bound for 2-dimensional positioning. Pseudo-range measurements between base stations (BSs) and a mobile terminal (MT) are obtained using a Gaussian error model having zero mean and a configurable standard deviation. For cooperative positioning, additional range measurements between MTs are obtained. The error model for these measurements is Gaussian again with zero mean and a standard deviation which is configurable. The color plot shows the Cramér-Rao lower bound for the positioning root mean squared error (RMSE) in m. In black colored regions, the positioning RMSE is greater or equal than the maximum color bar value.

With the initial parameters, most indoor areas show a positioning RMSE ≥10m for TDOA positioning. Nevertheless, if several cooperative MTs are located within this poorly covered area, there is a significant gain due to cooperation by exploiting additional ranging measurements between MTs.

Applet Manual

Main Window

Click on tab Main to switch to the main window.

Scenario Panel

The main window shows the distribution of BSs, MTs and walls.

Control Buttons


Parameter Window

Click on tab Parameters to switch to the parameter window.

Generic Parameters

Ranging Parameters

Cooperation Parameters

There is another version of this applet which provides a larger scenario panel and allows to load/save scenarios from and to files. However, for file loading and saving the applet requires the permission to go out of the browser's sandbox. For that you have to trust this applet. Your browser should ask you about that.