A Joint TDOA/AOA Three-Dimensional Localization Algorithm for Spacecraft Internal

Conference paper
Part of the Lecture Notes in Electrical Engineering book series (LNEE, volume 571)


Considering the lack of three-dimensional localization scheme for spacecraft internal, a joint TDOA/AOA three-dimensional localization algorithm based on Wireless Sensor Network (WSN) is proposed in this paper. WSN is deployed in the spacecraft which is composed of reference nodes and unknown nodes, and the reference nodes’ position are known which help to locate the unknown nodes. Only six reference nodes are enough for the proposed method to localize all the unknown nodes within the WSN in three-dimension theoretically, and the synchronization of the network is not necessary, satisfying the low complexity requirement of the WSN. TDOA (Time Difference of Arrival) is adopted to estimate AOA (Angle of Arrival), and the angle is estimated by the hierarchical deployment of the reference nodes by which the complicated antenna arrays for AOA are avoided. A three dimensional coordinate is established by setting the plane of the reference nodes as plane XOY and the z coordinate is computed according to the angle estimated by the AOA. Finally, the unknown node is projected on the plane XOY, and the x coordinate and y coordinate are computed by trilateration localization tragedy.


TDOA AOA ZigBee Spacecraft internal Three-dimensional localization 


  1. 1.
    Qiangmao G, Fidan B (2009) Localization algorithms and strategies for wireless sensor networks. In: HerShey information science reference, New YorkGoogle Scholar
  2. 2.
    Lu Xiaofeng, Hui Pan, Towsley Don et al (2010) Anti-localization anonymous routing for delay tolerant network. Comput Netw 54(11):1899–1911CrossRefGoogle Scholar
  3. 3.
    Niculescu D, Nalh B (2003) Ad hoc positioning system (APS) using AOA. In: Proceedings of the 22nd annual joint conference of the IEEE computer and communications societies (INFOCOM’03). IEEE, New York, pp 1734–l743Google Scholar
  4. 4.
    Patwari N, Hero AO, Perkins M et al (2003) Relative location estimation in wireless sensor networks. IEEE Trans Signal Process 51(8):2137–2148CrossRefGoogle Scholar
  5. 5.
    Zhang LQ, Zhou XB, Cheng Q (2006) Landscape-3D: a robust localization scheme for sensor networks over complex 3D terrains. In: Proceedings of the 31st IEEE conference. IEEE, New York, pp 239–246Google Scholar
  6. 6.
    Dai Guilan, Zhao Chongchong, Qiu Yan (2008) A localization scheme based on sphere for wireless sensor network in 3D. Acta Electronica Sinica 36(7):1297–1303 (in Chinese)Google Scholar
  7. 7.
    Liangbin Lü, Yang Cao, Xun Gao et al (2006) Three dimensional localization schemes based on sphere intersections in wireless sensor network. J Beijing Univ Posts Telecommun 29(z1):48–51 (in Chinese)Google Scholar

Copyright information

© Springer Nature Singapore Pte Ltd. 2020

Authors and Affiliations

  1. 1.Institute of Manned Space System Engineering, China Academy of Space TechnologyBeijingChina

Personalised recommendations