Closed-form range-based posture estimation based on decoupling translation and orientation

For estimating the posture, i.e., position and orientation, of an extended target based on range measurements, a new closed-form solution is proposed; it is based on decoupling position and orientation. For decoupling, any procedure for range-based localization of point targets, i.e., for mere position estimation, can be used. The new solution is suboptimal, but nevertheless provides good accuracy and is very practical from an application point of view.