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Research Article Indoor Positioning Using Nonparametric Belief Propagation Based on Spanning Trees | Hindawi Publishing Corporation EURASIP Journal on Wireless Communications and Networking Volume 2010 Article ID 963576 12 pages doi 2010 963576 Research Article Indoor Positioning Using Nonparametric Belief Propagation Based on Spanning Trees Vladimir Savic EURASIP Member Adrian Poblacion Santiago Zazo EURASIP Member and Mariano García Signal Processing Applications Group Polytechnic University of Madrid Avenida. Complutense 30 28040 Madrid Spain Correspondence should be addressed to Vladimir Savic vladimir@ Received 25 January 2010 Accepted 14 June 2010 Academic Editor Davide Dardari Copyright 2010 Vladimir Savic et al. This is an open access article distributed under the Creative Commons Attribution License which permits unrestricted use distribution and reproduction in any medium provided the original work is properly cited. Nonparametric belief propagation NBP is one of the best-known methods for cooperative localization in sensor networks. It is capable of providing information about location estimation with appropriate uncertainty and to accommodate non-Gaussian distance measurement errors. However the accuracy of NBP is questionable in loopy networks. Therefore in this paper we propose a novel approach NBP based on spanning trees NBP-ST created by breadth first search BFS method. In addition we propose a reliable indoor model based on obtained measurements in our lab. According to our simulation results NBP-ST performs better than NBP in terms of accuracy and communication cost in the networks with high connectivity . highly loopy networks . Furthermore the computational and communication costs are nearly constant with respect to the transmission radius. However the drawbacks of proposed method are a little bit higher computational cost and poor performance in low-connected networks. 1. Introduction The belief propagation BP algorithm proposed by Pearl 1 is a way of organizing the global computation of marginal beliefs in terms of .