3D Moving Rigid Body Localization in the Presence of Anchor Position Errors

This paper addresses the problem of locating a moving rigid body in three dimensional space using the range and range rate measurements between the on-the-body sensors and the unknown-position anchors outside the body. A novel method in obtaining algebraic solutions of the rotation matrix, the position vector, the angular velocity and the translational velocity is developed. The constrained Cramér-Rao lower bound (CRLB) for the rigid body localization problem is deduced to evaluate the performance of the proposed method. Simulation results show that the proposed method can reach the CRLB performance at low and moderate noise levels.