Angle-Displacement Rigidity Theory With Application to Distributed Network Localization

This article investigates the localization problem of a network in 2-D and 3-D spaces given positions anchor nodes global frame internode relative measurements local coordinate frames. It is assumed that frames different have unknown orientations. First, an angle-displacement rigidity theory developed, which can be used to localize all free by known (local position, distance, bearing, angle, or ratio-of-distance measurements). Then, necessary sufficient conditions for localizability are given. Finally, distributed protocol proposed, globally estimate locations if infinitesimally rigid. The proposed method unifies local-relative-position-based, distance-based, local-relative-bearing-based, angle-based, ratio-of-distance-based approaches. novelty this applied both generic nongeneric configurations with spaces.