Range-based Coordinate Alignment for Cooperative Mobile Sensor Network Localization
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This paper studies the coordinate alignment problem for cooperative mobile sensor network localization with range measurements. The mobile network is consist of target nodes, each of which has only access position information in its individual local coordinate system, and anchor nodes with GPS position information. To localize target nodes, it is sufficient to align their local coordinate systems, which is formulated as a non-convex optimization problem over the rotation group SO(3). By exploiting the problem structure with the projection technique, we reformulate it as an optimization problem with a convex objective function and easily handleable constraints. For the case with a target node and an anchor node, we design both iterative and recursive algorithms of explicit form and validate their advantages by comparing with the literature via simulations. Then, we extend to the case with multiple target nodes in a mobile sensor network. The advantages of our algorithms are finally validated via simulations.
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