Accurate location information plays an important role in the performance of wireless sensor networks since many mission\napplications depend on it. This paper proposes a fully distributed localization algorithm based on the concept of data fusion,\nallowing the full intranodes information including the correlations among estimates to take part in the algorithm. By properly\nconstructing and updating the estimates as well as the corresponding covariance matrices, the algorithm can fuse intranodes\ninformation to generate more accurate estimates on the sensor locations with a fast speed. Finally, numerical simulations are given\nas examples to demonstrate the effectiveness of the algorithm.
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