Bearing-Based Network Localization Under Gossip Protocol

This paper proposes a bearing-based network localization algorithm with a randomized gossip protocol. Each sensor node is assumed to be able to obtain the bearing vectors and communicate its position estimates with several neighboring agents. Each update involves two agents, and the update sequence follows a stochastic process. Under the assumption that the network is infinitesimally bearing rigid and contains at least two beacon nodes, we show that the proposed algorithm could successfully estimate the actual positions of the network in probability. The randomized update protocol provides a simple, distributed, and reduces the communication cost of the network. The theoretical result is then supported by a simulation of a 1089-node sensor network.Comment: preprint, 7 pages, 2 figure

Cooperative localization using angle-of-arrival information

This paper studies the cooperative localization problem of sensor networks using local angle-of-arrival measurements in two scenarios. (i) The angle-of-arrival information can be mutually measured by pairs of sensors in their local frames which do not share the same orientation ; (ii) The angle-of-arrival information can not be mutually measured by pairs of sensors but their local frames share the same orientation. For scenario (i), a distributed localization scheme is proposed based on a simultaneous orientation consensus law. This localization scheme not only provides the true coordinates of all sensor nodes, but also offers the true orientations of local frames on the sensor nodes as a byproduct. For scenario (ii), a similar distributed localization scheme with diagonal scaling is developed without estimating the true orientations of local frames on the sensor nodes. Finally, simulations are provided to illustrate our results