3D location and orientation estimation using Angle of Arrival

Ballal, Tarig; Bleakley, Chris J.

doi:10.1109/wisp.2009.5286580

Cited by 6 publications

(4 citation statements)

References 25 publications

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“…E-911 approaches also employ filters [53] and estimators [51]. A few E-911 papers propose localization with triangulation only [134], [135].…”

Section: ) Cellular Telephone Localizationmentioning

confidence: 99%

A Review of Linear Multilateration Techniques and Applications

Widdison,

Long

2024

IEEE Access

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In multilateration, distances between an unknown location and several known points are used to determine the location of the unknown point. Papers on algorithms for multilateration, such as time of arrival (TOA), time difference of arrival (TDOA), and angle of arrival (AOA), have proliferated in the literature. These use the same equations, but are often written in a way that hides the underlying geometry and make it difficult to see the similarity in approaches between different papers. This paper provides a review of TOA and AOA-based localization approaches, with a focus on linear positioning algorithms. This paper presents simple and consistent versions of TOA, TDOA, and AOA position equations with intuitive explanations for how those equations relate to the geometry of the localization problem. This perspective can make it easier to implement these algorithms in a way that produces stable results and provides insight into the underlying geometric problem. We also review the literature relating to TDOA and AOA localization algorithms and multistatic radar.

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“…E-911 approaches also employ filters [53] and estimators [51]. A few E-911 papers propose localization with triangulation only [134], [135].…”

Section: ) Cellular Telephone Localizationmentioning

confidence: 99%

A Review of Linear Multilateration Techniques and Applications

Widdison,

Long

2024

IEEE Access

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“…Wireless sensor networks (WSN) localization has been extensively used for acoustic tracking of underwater sound sources [48]- [52] and AoA is one of the major measurement techniques. The AoA estimation process can be implemented by measuring the phase difference of acoustic signals perceived by two or more sensors, which can be directly translated into direction vectors [27], [53], [54].…”

Section: Direction Vector Estimation Using Phase-differencementioning

confidence: 99%

Localization and Tracking Control Using Hybrid Acoustic–Optical Communication for Autonomous Underwater Vehicles

Zhang

Ndoye

Ballal

et al. 2020

IEEE Internet Things J.

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This paper studies the problem of localization and tracking of a mobile target ship with an autonomous underwater vehicle (AUV). A hybrid acoustic-optical underwater communication solution is proposed, in which the acoustic link is used for the non-line-of-sight (NLoS) localization, and the optical link is for the line-of-sight (LoS) transmission. By coordinating these two complementary technologies, it is possible to overcome their respective weaknesses and achieve accurate localization, tracking, and high-rate underwater data transmission. The main challenge for reliable operation is to maintain the AUV over an optical link range while the target dynamics is unknown at all times. Hence, we design an error-based adaptive model predictive controller (MPC) and a proportional-derivative (PD) controller incorporating a real-time acoustic localization system to guide the AUV towards the sensor node mounted on the surface ship. We define a connectivity threshold cone with its apex coinciding with the sensor node such that when the underwater vehicle stays inside of this cone, a minimum bit rate is guaranteed. The localization, tracking control and optical communication scheme are validated through online simulations that integrate a realistic AUV model where the effectiveness of the proposed adaptive MPC and PD controller are demonstrated.

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“…These estimated AoA are used to determine the distances between the MD and the beacons using a novel angulation method. The method is based on a previous proposal described in [35]. Considering the configuration in Figure 5, the known distance between Beacon 1 and 2, D 12 , is given by:…”

Section: ) Aoa-based Md-beacon Distance Estimationmentioning

confidence: 99%

“…It worth noting that the orientation of the MD can also be determined based on the final ToF location estimate and the AoA estimates [24], [35].…”

Section: ) Tof-based Location Estimationmentioning

confidence: 99%