LAUSR

Accurate location information is essential for many emerging applications of the Internet of Things. Compared with absolute positions, relative positions of nodes are often more relevant in tasks such as formation control and autonomous driving. In this article, we propose a relative localization scheme for terminals aided by unmanned aerial vehicles. We first derive the performance limit of the relative position error as the constrained Cramér–Rao lower bound (CRLB), and proved that the equivalent Fisher information of a subnetwork retains all the information for its relative localization. We then develop a distributed localization algorithm based on local geometry transforming for the proposed scheme with low computation complexity. Moreover, an iterative descent algorithm is designed for joint power and spectrum allocation for relative localization. Numerical results show that the proposed localization algorithm significantly outperforms existing algorithms and the optimal allocation scheme can reduce the relative CRLB by about 50% compared with the uniform allocation scheme.