Cooperative Localization With Constraint Satisfaction Problem in 5G Vehicular Networks

5G new radio will provide a new paradigm in high accurate vehicle localization, reinforced by the use of large antenna arrays along with carefully designed broadband radio technology. However, a high computational load still remains unravelled in the context of cooperative localization, albeit with its advantages of high-precision localization. To alleviate such the computational burden, we develop a reliable technique of cooperative localization, addressed as a constraint satisfaction problem. A constraint satisfaction formalism for cooperative localization readily enables to recast a formulation of the decentralized optimization. Its efficient solution of the optimization is developed in a distributed manner. Simulation results demonstrate that the proposed approach saves the requested computational loads significantly while sustaining the satisfactory accuracy of cooperative localization.