Cooperative localization using angle-of-arrival information

This paper studies the cooperative localization problem of sensor networks using local angle-of-arrival measurements in two scenarios. (i) The angle-of-arrival information can be mutually measured by pairs of sensors in their local frames which do not share the same orientation; (ii) The angle-of-arrival information can not be mutually measured by pairs of sensors but their local frames share the same orientation. For scenario (i), a distributed localization scheme is proposed based on a simultaneous orientation consensus law. This localization scheme not only provides the true coordinates of all sensor nodes, but also offers the true orientations of local frames on the sensor nodes as a byproduct. For scenario (ii), a similar distributed localization scheme with diagonal scaling is developed without estimating the true orientations of local frames on the sensor nodes. Finally, simulations are provided to illustrate our results.