This paper studies 3-D distributed network localization using mixed types of local relative measurements. Each node holds a local coordinate frame without a common orientation and can only measure one type of information (relative position, distance, relative bearing, angle, or ratio-of-distance measurements) about its neighboring nodes in its local coordinate frame. A novel rigidity-theory-based distributed localization is developed to overcome the challenge due to the absence of a global coordinate frame. The main idea is to construct displacement constraints for the positions of the nodes by using mixed local relative measurements. Then, a linear distributed localization algorithm is proposed for each free node to estimate its position by solving the displacement constraints. The algebraic condition and graph condition are obtained to guarantee the global convergence of the proposed distributed localization algorithm.

中文翻译：

---

具有混合局部相对测量的 3-D 分布式定位

本文研究了使用混合类型的本地相对测量的 3-D 分布式网络定位。每个节点都拥有一个没有共同方向的局部坐标系，并且只能在其局部坐标系中测量关于其相邻节点的一种类型的信息（相对位置、距离、相对方位角、角度或距离比测量）。开发了一种新颖的基于刚性理论的分布式定位来克服由于缺乏全局坐标系而导致的挑战。主要思想是通过使用混合局部相对测量来构建节点位置的位移约束。然后，针对每个自由节点提出了一种线性分布式定位算法，通过求解位移约束来估计其位置。