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Range-Based Coordinate Alignment for Cooperative Mobile Sensor Network Localization
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DOI：10.1109/TCNS.2020.2977334.png)
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Abstract
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This article studies a coordinate alignment problem for cooperative mobile sensor network localization with range-based measurements. The network consists of target nodes, each of which has only access position information in a local fixed coordinate frame, and anchor nodes with GPS position information. To localize target nodes, we aim to align their coordinate frames, which leads to a nonconvex optimization problem over a rotation group SO(3). Then, we reformulate it as an optimization problem with a convex objective function over spherical surfaces. We explicitly design both iterative and recursive algorithms for localizing a target node with an anchor node, and extend to the case with multiple target nodes. Finally, the advantages of our algorithms against the literature are validated via simulations.
Keywords:
Cooperative localization
coordinate alignment
mobile sensor networks
parallel projection
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