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Open AccessArticle

Accurate Rigid Body Localization Using DoA Measurements from a Single Base Station

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School of IoT Engineering, Jiangnan University, Wuxi 214122, China
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Jiangsu Key Construction Laboratory of IoT Application Technology, Wuxi 214122, China
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Department of Electrical and Computer Engineering, University of Canterbury, Christchurch 8020, New Zealand
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Department of Electronic Engineering, Kwangwoon University, Seoul 139-701, South Korea
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Author to whom correspondence should be addressed.
Electronics 2019, 8(6), 622; https://doi.org/10.3390/electronics8060622
Received: 3 May 2019 / Revised: 26 May 2019 / Accepted: 29 May 2019 / Published: 1 June 2019
(This article belongs to the Section Microwave and Wireless Communications)
Rigid body localization (RBL) is to simultaneously estimate the position and attitude of a rigid target. In this paper, we focus on the RBL problem using a single base station (BS) and direction of arrival (DoA) measurements. Several wireless sensors are mounted on the rigid body of interest, and their topology information is known a priori. The single BS measures the DoAs of wireless sensor signals and fuses them with the sensor topology information to estimate the position and orientation of the rigid body and achieve RBL. We propose two RBL methods, namely, the observation matching (OM) algorithm and topology matching (TM) algorithm with refinement. The emerging participatory searching algorithm (PSA) is adopted in both methods to solve the nonlinear matching problems. Simulations show that, compared with the existing approach, the OM method can achieve better RBL accuracy under high DoA noise levels, while the performance of the TM algorithm with refinement is closer to the constrained Cramér–Rao bound (CCRB) under low DoA noise levels. View Full-Text
Keywords: rigid body localization; attitude estimation; participatory searching algorithm; single base station; direction of arrival rigid body localization; attitude estimation; participatory searching algorithm; single base station; direction of arrival
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MDPI and ACS Style

Zhou, B.; Yao, X.; Yang, L.; Yang, S.; Wu, S.; Kim, Y.; Ai, L. Accurate Rigid Body Localization Using DoA Measurements from a Single Base Station. Electronics 2019, 8, 622.

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