Integration of Angle of Arrival Information for Multimodal Sensor Network Localization using Semidefinite Programming

The problem of position estimation in sensor networks using a combination of distance and angle information as well as pure angle information is discussed. For this purpose, a semidefinite programming relaxation based method that has been demonstrated on pure distance information is extended to solve the problem. Practical considerations such as the effect of noise and computational effort are also addressed. In particular, a random constraint selection method to minimize the number of constraints in the problem formulation is described. The performance evaluation of the technique with regard to estimation accuracy and computation time is also presented by the means of extensive simulations.