Abstract
This paper analyses the user localizability with range measurement from the observability perspective. Positioning is an estimation problem in essence. An unavoidable issue to be addressed in estimation problem is the observability analyzing. Observability in positioning issue and Localizability are analyzing of whether the state of users can be uniquely and accurately decided. From this view, they are coincident. In order to solve the position of users in challenged environment, such as forests and indoor, we put forward the concept of Cooperative Positioning. This paper analyses the localizability of Cooperative Positioning system through observability theory, and we use the rank of observability matrix to judge whether the system is observable or not. For the first time, we can analyze the localizability of users in theory, and we get a necessary condition of localizability. Simulation results indicate that it’s feasible to use the observability theory in Cooperative Positioning systems. The conclusion of this paper is useful for the guidance of developing and constructing the positioning system.
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Liu, Y., Li, G., Lv, J., Chang, J., Tian, S. (2015). Localizability Analysis of Cooperative Positioning with Range Measurement. In: Sun, J., Liu, J., Fan, S., Lu, X. (eds) China Satellite Navigation Conference (CSNC) 2015 Proceedings: Volume II. Lecture Notes in Electrical Engineering, vol 341. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-662-46635-3_22
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DOI: https://doi.org/10.1007/978-3-662-46635-3_22
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