Pöhlmann, Robert and Zhang, Siwei and Dammann, Armin and Hoeher, Peter A. (2018) Fundamental Limits for Joint Relative Position and Orientation Estimation. In: 2018 IEEE International Conference on Communications Workshops, ICC Workshops 2018. IEEE International Conference on Communications Workshops (ICC), 2018-05-20 - 2018-05-24, Kansas City, USA. doi: 10.1109/ICCW.2018.8403687. ISBN 9789082797015. ISSN 2076-1465, 2219-5491.
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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/ | ||||||||||||||||||||
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Document Type: | Conference or Workshop Item (Speech) | ||||||||||||||||||||
Title: | Fundamental Limits for Joint Relative Position and Orientation Estimation | ||||||||||||||||||||
Authors: |
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Date: | May 2018 | ||||||||||||||||||||
Journal or Publication Title: | 2018 IEEE International Conference on Communications Workshops, ICC Workshops 2018 | ||||||||||||||||||||
Refereed publication: | Yes | ||||||||||||||||||||
Open Access: | No | ||||||||||||||||||||
Gold Open Access: | No | ||||||||||||||||||||
In SCOPUS: | Yes | ||||||||||||||||||||
In ISI Web of Science: | No | ||||||||||||||||||||
DOI: | 10.1109/ICCW.2018.8403687 | ||||||||||||||||||||
ISSN: | 2076-1465, 2219-5491 | ||||||||||||||||||||
ISBN: | 9789082797015 | ||||||||||||||||||||
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 Start Date: | 20 May 2018 | ||||||||||||||||||||
Event End Date: | 24 May 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 (old) | ||||||||||||||||||||
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: | 24 Apr 2024 20:23 |
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