Three-Dimensional Rigid Body Localization in the Presence of Clock Offsets

Abstract

This letter develops a novel approach to determinethepose of a rigid body in an asynchronous network using the range measurements. While the sensors on the rigid body share one clock, the synchronization between distant anchors is often unavailable. The pose parameters of the rigid body are estimated in the presence of clock offsets by applying the semi-definite relaxation (SDR) technique. Then, the clock offsets are obtained by utilizing the rigid body pose information acquired in the previous step. Perturbation analysis is conducted to examine the performance of the proposed method theoretically. Simulations validate that the proposed method achieves the Cramer-Rao lower bound (CRLB) performance at low noise levels.