METHOD FOR LOCALIZATION OF NODES BY USING PARTIAL ORDER OF THE NODES

The present invention relates to a new method for localization, i.e. finding positions and orientations of nodes communicating in wireless networks. The method is based on using directional information (angle-of-arrival, AOA), and optionally distance information, combined with estimation by recursive filters such as e.g., Kaiman filters, recursive least squares filters, Bayesian filters, or particle filters. The method expresses the localization problem as set of linear equations and ensures stability and convergence by imposing a partial order on the nodes.