[1]FAN Yingsheng,QI Xiaogang,LIU Lifang.Coordinate registration strategy in cooperative localization[J].CAAI Transactions on Intelligent Systems,2021,16(3):459-465.[doi:10.11992/tis.202012015]
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Coordinate registration strategy in cooperative localization

CAAI Transactions on Intelligent Systems[ISSN 1673-4785/CN 23-1538/TP] Volume: 16 Number of periods: 2021 3 Page number: 459-465 Column: 学术论文—智能系统 Public date: 2021-05-05
Title:
Coordinate registration strategy in cooperative localization
Author(s):
FAN Yingsheng1; 2;  QI Xiaogang1;  LIU Lifang3
1. School of Mathematics and Statistics, Xidian University, Xi’an 710071, China;
2. Basic Courses Department, Zhejiang Police College, Hangzhou 310053, China;
3. School of Computer Science and Technology, Xidian University, Xi’an 710071, China
Keywords:
cooperative localization; positioning algorithm; coordinate registration; least square algorithm; Procrustes analysis; anchor node; average connectivity; range error
CLC:
TP391
DOI:
10.11992/tis.202012015
Abstract:
Coordinate registration is an integral part of cooperative localization. A good coordinate registration system can improve the performance of collaborative location algorithms; otherwise, it may increase their errors. This paper carefully compares the design ideas and applicable conditions of coordinate registration methods based on the least square (LS) method and Procrustes analysis (PA). Detailed steps of the coordinate registration algorithm based on PA are provided. Using the experimental data obtained from the cooperative localization algorithms (classical MDS and Levenberg-Marquardt algorithm), the effects of the number of anchor nodes, range error, and average connectivity of the network nodes on the registration accuracy were analyzed in detail. The experimental results showed that in 2D and 3D environments, the PA-based algorithm has better registration accuracy and stability than the LS-based algorithm, with registration error reduced by approximately 20%.
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Last Update: 2021-06-25

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