mmkhmmkh / pykickloc

A python implementation of the KickLoc cooperative localization algorithm.

pykickloc

A python implementation of the KickLoc Intuitive distributed localization algorithm.

Install

pip3 install pykickloc

Usage

To create a beacon, create a KINode with the beacon's position and a standard deviation of 0:

beacon = KINode(np.array([0, 1, 0]), 0)

To create an unknown node, create a KINode with no parameters:

unknown = KINode()

Whenever a distance update is received, call update on the local node to update the local node's position:

node.update(neighbor_position, neighbor_std_dev, distance, distance_std_dev)

If the nodes standard deviation was set to 0 (beacon), the update call will have no effect.

References

• Xiong, H., & Sichitiu, M. L. (2019). A Lightweight Localization Solution for Small, Low Resources WSNs. Journal of Sensor and Actuator Networks, 8(2), 26.

• Xiong, H.; Sichitiu, M.L. KickLoc: Simple, Distributed Localization for Wireless Sensor Networks. In Proceedings of the 2016 IEEE 13th International Conference on Mobile Ad Hoc and Sensor Systems (MASS), 10–13 October 2016; pp. 228–236.