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Fundamental Limits for Joint Relative Position and Orientation Estimation

Pöhlmann, Robert and Zhang, Siwei and Dammann, Armin and Hoeher, Peter A. (2018) Fundamental Limits for Joint Relative Position and Orientation Estimation. IEEE International Conference on Communications Workshops (ICC), 20.-24. Mai 2018, Kansas City, USA.

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Abstract

Multi-agent robotic systems, also called robotic swarms, are a promising technology for extra-terrestrial exploration. Autonomous operation of such swarms requires reliable navigation, where not only the position but also the agents' orientation relative to each other is of interest. Extracting both angle and range information from radio signals, e.g. by using antenna arrays, avoids the rigidity constraint and allows positioning for arbitrary geometries. A joint position and orientation solution can still be obtained for agents connected by a single link. The aim of this paper is to derive the fundamental limit for joint position and orientation estimation for the anchor-free case. To obtain a fundamental limit, we derive the Cramér-Rao bound (CRB) directly based on the received signal. Our results show that, even when the agents' orientations are unknown, angle information is beneficial for position estimation at short to medium distances.

Item URL in elib:https://elib.dlr.de/119246/
Document Type:Conference or Workshop Item (Speech)
Title:Fundamental Limits for Joint Relative Position and Orientation Estimation
Authors:
AuthorsInstitution or Email of AuthorsAuthors ORCID iD
Pöhlmann, Robertrobert.poehlmann (at) dlr.deUNSPECIFIED
Zhang, Siweisiwei.zhang (at) dlr.deUNSPECIFIED
Dammann, Arminarmin.dammann (at) dlr.deUNSPECIFIED
Hoeher, Peter A.University of Kiel, GermanyUNSPECIFIED
Date:May 2018
Refereed publication:Yes
Open Access:No
Gold Open Access:No
In SCOPUS:No
In ISI Web of Science:No
Status:Published
Keywords:anchor-free, positioning, localization, orientation, fundamental limits, Cramér-Rao bound
Event Title:IEEE International Conference on Communications Workshops (ICC)
Event Location:Kansas City, USA
Event Type:international Conference
Event Dates:20.-24. Mai 2018
HGF - Research field:Aeronautics, Space and Transport
HGF - Program:Space
HGF - Program Themes:Communication and Navigation
DLR - Research area:Raumfahrt
DLR - Program:R KN - Kommunikation und Navigation
DLR - Research theme (Project):R - Vorhaben GNSS2/Neue Dienste und Produkte
Location: Oberpfaffenhofen
Institutes and Institutions:Institute of Communication and Navigation
Institute of Communication and Navigation > Communications Systems
Deposited By: Pöhlmann, Robert
Deposited On:21 Mar 2018 10:52
Last Modified:13 Jun 2018 11:21

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