Estimation of Location and Orientation From Range Measurements

Abstract

Localization is an important required task for enabling vehicle autonomy. Localization entails the determination of the position of the center of mass and orientation of a vehicle from the available measurements. In this paper, we focus on localization by using the range measurements available to a vehicle from the communication of its multiple onboard receivers with roadside beacons. The model proposed for measurement is as follows: the true distance between a receiver and a beacon is at most equal to a predetermined function of the range measurement. The proposed procedure for localization is as follows: Based on the range measurements specific to a receiver from the beacons, a finite LP (linear programming) is proposed to estimate the location of the receiver. The estimate is essentially the Chebychev center of the set of possible locations of the receiver. In the second step, the location estimates of the vehicle are corrected using rigid body motion constraints and the orientation of the rigid body is thus determined. Two numerical examples provided at the end corroborate the procedures developed in this paper.

A Localization Algorithm for Underwater Wireless Sensor Networks Based on Ranging Correction and Inertial Coordination

“…The strategy of the algorithm is to assume that the node knows the information of the entire network, but due to the mobility of the UWSN nodes and limited storage capacity, this strategy cannot solve the UWSN underwater target tracking problem. There are also a lot of researches on the underwater target tracking problem of UWSN in the literature [18][19], but these results are based on raw measurements, but considering the limited energy and communication bandwidth of UWSN, the original measurement not applicable to UWSN.…”