A New Rigid Body Localization Scheme Exploiting Participatory Search Algorithm
- PDF / 1,236,269 Bytes
- 8 Pages / 595.276 x 790.866 pts Page_size
- 68 Downloads / 178 Views
ORIGINAL ARTICLE
A New Rigid Body Localization Scheme Exploiting Participatory Search Algorithm Shangyi Yang1 · Chao Sun1 · Youngok Kim1 Received: 16 March 2020 / Revised: 18 June 2020 / Accepted: 15 September 2020 / Published online: 23 September 2020 © The Korean Institute of Electrical Engineers 2020
Abstract Since both the position and the orientation of a rigid target can be estimated with a few sensors, which are mounted on the target, it is well known that the rigid body localization (RBL) has various potential applications. In this paper, we propose a new RBL scheme exploiting a participatory search algorithm to simultaneously estimate the unknown parameters for both the three-dimensional displacement and the rotation angles of the target with a single base station using direction of arrival measurements. The performance of the proposed scheme is compared with that of the RBL scheme using a particle swarm optimization algorithm over various conditions such as different noise levels, iterations, various sizes of target, and various search space. According to the results of simulation, the proposed scheme provides higher hit success rate for the optimal solution, lower root mean squared errors in estimation, even with less computational complexity. Keywords Rigid body localization · Position · Orientation · Participatory search algorithm · Particle swarm optimization
1 Introduction Although the position of a target and its orientation are closely related, numerous studies have focused on only either the position or the orientation estimation of the target. The rigid body localization (RBL) is introduced as a new scheme to estimate both the position and the orientation of the rigid target. Thus, it is well known that the RBL has various potential applications for location services of robotic systems, virtual reality experience systems, orbiting satellites, underwater submarines, aircraft, mechatronic systems, etc. [1–5]. For outdoor applications, the position and the orientation of the rigid target can be estimated by using Global Position System (GPS), even though multiple GPS antennas are required on the target. When the GPS signal is no longer available, the position-related measurements, such as Time-of-Arrival (ToA), Time-Difference-of-Arrival (TDoA), and Direction-of-Arrival (DoA), can be used for the RBL. For examples of indoor applications, the virtual reality experience systems and the robotic systems also need * Youngok Kim [email protected] 1
Electronic Engineering Department, Kwangwoon University, Seoul, South Korea
both the precise position and the orientation information in consumer electronics and smart industrial scenarios [4, 5]. However, the RBL schemes using ToA or TDoA have the drawback of requiring precise synchronization as well as multiple base stations requirements [1, 6]. Therefore, the RBL scheme using just a single base station is introduced in [6], because it has advantages, which not only reduce the complexity of system, but also enhance the adaptability of application sce
Data Loading...
