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Fundamental Limits for Joint Relative Position and Orientation Estimation with Generic Antennas

Pöhlmann, Robert and Zhang, Siwei and Dammann, Armin and Hoeher, Peter A. (2018) Fundamental Limits for Joint Relative Position and Orientation Estimation with Generic Antennas. 26th European Signal Processing Conference (EUSIPCO), 3.-7. Sept. 2018, Rom, Italien.

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Abstract

Automated multi-agent robotic systems are a promising technology for extra-terrestrial exploration. Autonomous control of such systems requires position as well as orientation awareness. Having a multi-port antenna system like an antenna array or a multi-mode antenna (MMA) installed on each agent, position and orientation can be estimated when the agents cooperatively communicate via radio signals. The aim of this paper is to derive the fundamental limits for relative, i.e. anchor-free, joint position and orientation estimation. Using wavefield modeling and manifold separation, the inclusion of calibration data from real multi-port antenna systems is possible. The Cramer-Rao bound (CRB) is derived directly on the received signal, thus representing a fundamental limit. We then use the derived bound to analyze the position and orientation estimation capabilities of a multi-agent system employing MMAs.

Item URL in elib:https://elib.dlr.de/120228/
Document Type:Conference or Workshop Item (Speech)
Title:Fundamental Limits for Joint Relative Position and Orientation Estimation with Generic Antennas
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:September 2018
Refereed publication:Yes
Open Access:No
Gold Open Access:No
In SCOPUS:No
In ISI Web of Science:No
Status:Published
Keywords:multi-mode antenna, wavefield modeling, anchor-free, positioning, localization, orientation, fundamental limits, Cramér-Rao bound, Fisher information
Event Title:26th European Signal Processing Conference (EUSIPCO)
Event Location:Rom, Italien
Event Type:international Conference
Event Dates:3.-7. Sept. 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:19 Jun 2018 16:59
Last Modified:20 Sep 2018 12:10

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