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Three-Dimensional Rigid Body Localization in the Presence of Clock Offsets
IEEE Signal Processing Letters ( IF 3.9 ) Pub Date : 2020-01-01 , DOI: 10.1109/lsp.2019.2957674
Xiaochuan Ke , Yue Wang , Lei Huang

This letter develops a novel approach to determinethepose of a rigid body in an asynchronous network using the range measurements. While the sensors on the rigid body share one clock, the synchronization between distant anchors is often unavailable. The pose parameters of the rigid body are estimated in the presence of clock offsets by applying the semi-definite relaxation (SDR) technique. Then, the clock offsets are obtained by utilizing the rigid body pose information acquired in the previous step. Perturbation analysis is conducted to examine the performance of the proposed method theoretically. Simulations validate that the proposed method achieves the Cramer-Rao lower bound (CRLB) performance at low noise levels.

中文翻译:

存在时钟偏移的三维刚体定位

这封信开发了一种使用距离测量来确定异步网络中刚体姿态的新方法。虽然刚体上的传感器共享一个时钟,但远距离锚点之间的同步通常不可用。通过应用半定松弛 (SDR) 技术,在存在时钟偏移的情况下估计刚体的姿态参数。然后,利用上一步获取的刚体位姿信息得到时钟偏移量。进行扰动分析以从理论上检查所提出方法的性能。仿真验证了所提出的方法在低噪声水平下实现了 Cramer-Rao 下界 (CRLB) 性能。
更新日期:2020-01-01
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