Bearing-only distributed localization: A unified barycentric approach

被引：0
|
作者：
Cao, Kun [1 ]
Han, Zhimin [2 ]
Lin, Zhiyun [3 ]
Xie, Lihua [1 ]
机构：
[1] School of Electrical and Electronic Engineering, Nanyang Technological University, 50 Nanyang Avenue, Singapore,639798, Singapore
[2] School of Automation, Hangzhou Dianzi University, Hangzhou,310018, China
[3] Department of Electrical and Electronic Engineering, Southern University of Science and Technology, Shenzhen,518055, China
来源：
Automatica | 2021年 / 133卷
基金：
中国国家自然科学基金;
关键词：
Iterative methods;
D O I：
暂无
中图分类号：
学科分类号：
摘要：
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. © 2021 Elsevier Ltd
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