Bearing-only distributed localization: a unified barycentric approach
This paper studies the distributed localization problem of d-dimensional (d=2,3) sensor networks using local bearing measurements. Firstly, a distributed algorithm for computing barycentric coordinates in both 2-D and 3-D sensor networks is proposed where only local bearing measurements are required...
| Main Authors: | , , , |
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| Other Authors: | |
| Format: | Journal Article |
| Language: | English |
| Published: |
2022
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| Subjects: | |
| Online Access: | https://hdl.handle.net/10356/159356 |
| _version_ | 1811676564635516928 |
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| author | Cao, Kun Han, Zhimin Lin, Zhiyun Xie, Lihua |
| author2 | School of Electrical and Electronic Engineering |
| author_facet | School of Electrical and Electronic Engineering Cao, Kun Han, Zhimin Lin, Zhiyun Xie, Lihua |
| author_sort | Cao, Kun |
| collection | NTU |
| description | This paper studies the distributed localization problem of d-dimensional (d=2,3) sensor networks using local bearing measurements. Firstly, a distributed algorithm for computing barycentric coordinates in both 2-D and 3-D sensor networks is proposed where only local bearing measurements are required. Secondly, some necessary and/or sufficient conditions for the localizability of sensor networks, which are related to the rank of a matrix constructed from the barycentric coordinates, are provided. Thirdly, given position knowledge of at least d+1 anchors, a distributed iterative algorithm is presented such that all the sensor nodes can localize themselves cooperatively in the global coordinate system via local bidirectional communications. Some illustrative simulations are provided to demonstrate the effectiveness of our theoretic analysis. |
| first_indexed | 2024-10-01T02:23:29Z |
| format | Journal Article |
| id | ntu-10356/159356 |
| institution | Nanyang Technological University |
| language | English |
| last_indexed | 2024-10-01T02:23:29Z |
| publishDate | 2022 |
| record_format | dspace |
| spelling | ntu-10356/1593562022-06-16T02:52:36Z Bearing-only distributed localization: a unified barycentric approach Cao, Kun Han, Zhimin Lin, Zhiyun Xie, Lihua School of Electrical and Electronic Engineering Engineering::Electrical and electronic engineering Distributed Localization Local Bearing Measurements This paper studies the distributed localization problem of d-dimensional (d=2,3) sensor networks using local bearing measurements. Firstly, a distributed algorithm for computing barycentric coordinates in both 2-D and 3-D sensor networks is proposed where only local bearing measurements are required. Secondly, some necessary and/or sufficient conditions for the localizability of sensor networks, which are related to the rank of a matrix constructed from the barycentric coordinates, are provided. Thirdly, given position knowledge of at least d+1 anchors, a distributed iterative algorithm is presented such that all the sensor nodes can localize themselves cooperatively in the global coordinate system via local bidirectional communications. Some illustrative simulations are provided to demonstrate the effectiveness of our theoretic analysis. Nanyang Technological University National Research Foundation (NRF) This work was partially supported by the ST Engineering-NTU Corporate Laboratory through the NRF Corporate Laboratory@University Scheme, Projects of Major International (Regional) Joint Research Program NSFC (Grant No. 61720106011), and the National Natural Science Foundation of China (Grant No. 61903112). 2022-06-16T02:52:36Z 2022-06-16T02:52:36Z 2021 Journal Article Cao, K., Han, Z., Lin, Z. & Xie, L. (2021). Bearing-only distributed localization: a unified barycentric approach. Automatica, 133, 109834-. https://dx.doi.org/10.1016/j.automatica.2021.109834 0005-1098 https://hdl.handle.net/10356/159356 10.1016/j.automatica.2021.109834 2-s2.0-85112513918 133 109834 en 61720106011 Automatica © 2021 Elsevier Ltd. All rights reserved. |
| spellingShingle | Engineering::Electrical and electronic engineering Distributed Localization Local Bearing Measurements Cao, Kun Han, Zhimin Lin, Zhiyun Xie, Lihua Bearing-only distributed localization: a unified barycentric approach |
| title | Bearing-only distributed localization: a unified barycentric approach |
| title_full | Bearing-only distributed localization: a unified barycentric approach |
| title_fullStr | Bearing-only distributed localization: a unified barycentric approach |
| title_full_unstemmed | Bearing-only distributed localization: a unified barycentric approach |
| title_short | Bearing-only distributed localization: a unified barycentric approach |
| title_sort | bearing only distributed localization a unified barycentric approach |
| topic | Engineering::Electrical and electronic engineering Distributed Localization Local Bearing Measurements |
| url | https://hdl.handle.net/10356/159356 |
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