Cooperative angle-of-arrival position localization

• We have included more explanations on the simulation results to make the description concluding enough.
• We have thoroughly revised the draft to polish the language to improve the draft with much more readability.

Cooperation among unknown-location nodes can improve network positioning coverage as well as localization accuracy particularly in the poor electronic conditions. This paper investigates the cooperative angle-of-arrival (AOA) positioning based on the Ultra Wideband (UWB) technique. An UWB measuring system is built to estimate the AOAs, and then the weighted cooperative positioning algorithm is implemented to determine the locations of the unknown nodes. Theoretical analysis is conducted to evaluate the accuracy of the cooperative AOA localization, and the methods to select neighbors for the distributed localization are proposed as well to improve the localization performance. The results of extensive experiments have shown that the proposed cooperative AOA positioning approach is more accurate.