A distributed continuous-time algorithm for network localization using angle-of-arrival information

This paper studies the angle-of-arrival (AOA) localization problem, namely, localizing networks based on the angle-of-arrival measurements between certain neighboring network nodes together with the absolute locations of some anchor nodes. We propose the concepts of stiffness matrix and fixability f...

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Bibliographic Details
Published in:Automatica (Oxford) Vol. 50; no. 1; pp. 53 - 63
Main Authors: Zhu, Guangwei, Hu, Jianghai
Format: Journal Article
Language:English
Published: Kidlington Elsevier Ltd 01.01.2014
Elsevier
Subjects:
Adaptative systems
Algorithms
Anchors
Applied sciences
Computer science; control theory; systems
Computer systems and distributed systems. User interface
Control theory. Systems
Exact sciences and technology
Graph-theoretic models
Graphs
Information retrieval. Graph
Localization
Networks
Position (location)
Position estimation
Position measurement
Robustness
Sensor systems
Software
Switching networks
Theoretical computing
Sensor systems
Position estimation
Graph-theoretic models
Switching networks
Mobile ad hoc network
Interconnection network
Stiffness matrix
Measurement sensor
Continuous time
Graph theory
Distributed system
Modeling
Transmission time
Angular measurement
Distributed algorithm
Arrival angle
Convergence rate
Robustness
Localization
Sensor array
Numerical convergence
Measurement error
ISSN:0005-1098, 1873-2836
Online Access:Get full text
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Summary:This paper studies the angle-of-arrival (AOA) localization problem, namely, localizing networks based on the angle-of-arrival measurements between certain neighboring network nodes together with the absolute locations of some anchor nodes. We propose the concepts of stiffness matrix and fixability for the anchored formation graphs modeling the networks, and show that they provide a complete characterization of the AOA localizability as well as an explicit formula for the localization result. Moreover, a distributed continuous-time algorithm is proposed that converges globally to the correct localization result on fixable formation graphs. Performances of the proposed algorithm, e.g., convergence rate and robustness to communication delay, are characterized and optimized. Sensitivities of the localization results with respect to errors in AOA measurements and anchor node positions are also analyzed.
Bibliography:ObjectType-Article-2
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ISSN:0005-1098
1873-2836
DOI:10.1016/j.automatica.2013.09.033