Rigid Body Localization Using Sensor Networks

  title={Rigid Body Localization Using Sensor Networks},
  author={Sundeep Prabhakar Chepuri and Geert Leus and Alle-Jan van der Veen},
  journal={IEEE Transactions on Signal Processing},
A framework for joint position and orientation estimation of a rigid body using range measurements is proposed. We consider a setup in which a few sensors are mounted on a rigid body. The absolute position of the rigid body is not known. However, we know how the sensors are mounted on the rigid body, i.e., the sensor topology is known. The rigid body is localized using noisy range measurements between the sensors and a few anchors (nodes with known absolute positions), and without using any… CONTINUE READING


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