Mobile Platform Self-Localization

This paper proposes a detailed bearing-only algorithm for mobile platform self-localization with respect to three beacons or landmarks whose positions are known. The derivation process of the mobile platform position is split into two stages, where the first stage determines the location region of the platform whereas the second stage fine-tunes this coarse location into one point within this region and calculates the platform heading. Previous approaches to self-localization either have applicability limitations or do not propose a formulation that provides a clear insight into the behaviour of the platform position solution in terms of platform/beacon geometry.