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Keywords = constrained Cramér–Rao lower bound (CCRLB)

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17 pages, 3584 KiB  
Article
Accurate Joint Estimation of Position and Orientation Based on Angle of Arrival and Two-Way Ranging of Ultra-Wideband Technology
by Di Zhang, Hongbiao Xu, Li Zhan, Ye Li, Guangqiang Yin and Xinzhong Wang
Electronics 2025, 14(3), 429; https://doi.org/10.3390/electronics14030429 - 22 Jan 2025
Cited by 1 | Viewed by 890
Abstract
In wireless sensor networks (WSNs), ultra-wideband (UWB) technology is essential for robot localization systems, especially for methods of the simultaneous estimation of position and orientation. However, current approaches frequently depend on rigid body models, which require multiple base stations and lead to substantial [...] Read more.
In wireless sensor networks (WSNs), ultra-wideband (UWB) technology is essential for robot localization systems, especially for methods of the simultaneous estimation of position and orientation. However, current approaches frequently depend on rigid body models, which require multiple base stations and lead to substantial equipment costs. This paper presents a cost-effective UWB SL model utilizing the angle of arrival (AOA) and double-sided two-way ranging (DS-TWR). To improve localization accuracy, we propose a self-localization algorithm based on constrained weighted least squares (SL-CWLS), integrating a weighted matrix derived from a measured noise model. Additionally, we derive the constrained Cramér–Rao lower bound (CCRLB) to analyze the performance of the proposed algorithm. Simulation results indicate that the proposed method achieves high estimation accuracy, while real-world experiments validate the simulation results. Full article
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22 pages, 9742 KiB  
Article
Fusion of Land-Based and Satellite-Based Localization Using Constrained Weighted Least Squares
by Paihang Zhao, Linqiang Jiang, Tao Tang, Zhidong Wu and Ding Wang
Sensors 2024, 24(8), 2628; https://doi.org/10.3390/s24082628 - 20 Apr 2024
Cited by 1 | Viewed by 1133
Abstract
Combining multiple devices for localization has important applications in the military field. This paper exploits the land-based short-wave platforms and satellites for fusion localization. The ionospheric reflection height error and satellite position errors have a great impact on the short-wave localization and satellite [...] Read more.
Combining multiple devices for localization has important applications in the military field. This paper exploits the land-based short-wave platforms and satellites for fusion localization. The ionospheric reflection height error and satellite position errors have a great impact on the short-wave localization and satellite localization accuracy, respectively. In this paper, an iterative constrained weighted least squares (ICWLS) algorithm is proposed for these two kinds of errors. The algorithm converts the nonconvex equation constraints to linear constraints using the results of the previous iteration, thus ensuring convergence to the globally optimal solution. Simulation results show that the localization accuracy of the algorithm can reach the corresponding Constrained Cramér–Rao Lower Bound (CCRLB). Finally, the localization results of the two methods are fused using Kalman filtering. Simulations show that the fused localization accuracy is improved compared to the single-means localization. Full article
(This article belongs to the Section Navigation and Positioning)
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