Cooperative Localization of 3D Mobile Networks via Relative Distance and Velocity Measurement
Yingsheng Fan, Kai Ding, Xiaogang Qi, Lifang Liu
Abstract
This letter mainly considers the cooperative localization problem of 3D mobile cluster network. With the development of Doppler frequency shift measurement technique, high-precision relative velocity measurement has become possible. In this letter, we first incorporate the relative velocity information into the 3D cooperative localization framework. Then the quasi-Newton algorithm BFGS is used to solve the framework, and the vBFGS algorithm suitable for solving the relative position of the mobile cluster network is constructed. Simulation experiments show that using relative velocity measurement to assist positioning can significantly improve positioning accuracy. Compared with the state-of-the-art algorithm, vBFGS has higher positioning accuracy and faster convergence rate for low-connectivity networks, and has better numerical stability and robustness for high-speed moving models.