Robust 3-D Location Estimation in the Presence of Anchor Placement and Range Errors

This paper addresses the problem of 3-D location estimation from perturbed range information and uncertain anchor positions. The 3-D location estimation problem is formulated as a min-max convex optimization problem with a set of second-order cone constraints. Robust optimization tools are applied to convert these cone constrains to semi-definite programming constraints and achieve robust location estimation without prior knowledge of the...