Angle-Displacement Rigidity Theory With Application to Distributed Network Localization

• 成果类型: Article
• 署名作者: Fang, Xu; Li, Xiaolei; Xie, Lihua
• 署名单位: Nanyang Technological University
• 刊物名称: IEEE TRANSACTIONS ON AUTOMATIC CONTROL
• ISSN/ISSBN: 0018-9286
• DOI: 10.1109/TAC.2020.3012630
• 发表日期: 2021
• 页码: 2574-2587
• 关键词: Position measurement; Protocols; Aerospace electronics; Extraterrestrial measurements; Coordinate measuring machines; Knowledge engineering; Displacement measurement; Angle-displacement rigidity theory; distributed localization; local relative measurement; nongeneric configuration; 2-D and 3-D spaces; unknown local frames

摘要

This article investigates the localization problem of a network in 2-D and 3-D spaces given the positions of anchor nodes in a global frame and internode relative measurements in local coordinate frames. It is assumed that the local frames of different nodes have different unknown orientations. First, an angle-displacement rigidity theory is developed, which can be used to localize all the free nodes by the known positions of the anchor nodes and local relative measurements (local relative position, distance, local relative bearing, angle, or ratio-of-distance measurements). Then, necessary and sufficient conditions for network localizability are given. Finally, a distributed network localization protocol is proposed, which can globally estimate the locations of all the free nodes of a network if the network is infinitesimally angle-displacement rigid. The proposed method unifies local-relative-position-based, distance-based, local-relative-bearing-based, angle-based, and ratio-of-distance-based distributed network localization approaches. The novelty of this article is that the proposed method can be applied in both generic and nongeneric configurations with an unknown global coordinate frame in both 2-D and 3-D spaces.