This deliverable presents preliminary results about novel cooperative positioning schemes and
performance analysis from the communication aspects. The focus is on small scale indoor scenarios with
impulse radio (IR) ultra wideband (UWB) complementing cellular communication systems, middle scale
indoor scenario with WiFi and ZigBee systems, and large scale outdoor such as cellular communication
systems. The proposed cooperative positioning schemes include the static single-hop positioning scheme
for WiFi, static multi-hop positioning using non parametric belief propagation (BP), generalized
multiuser hybrid data fusion (HDF), joint peer-to-peer ranging and distributed positioning. The
overhead/performance trade-off is carefully investigated for distributed positioning schemes. Moreover,
physical-level performance, mainly Cramer-Rao lower bound (CRLB), is analyzed for a new cooperative
positioning model.