Asynchronous Method of Simultaneous Object Position and Orientation Estimation with Two Transmitters

Jacek Stefanski and Jaroslaw Sadowski

Peer Reviewed

Abstract: This paper proposes an object location method for all types of applications, including the Internet of Things. The proposed method enables estimations of the position and orientation of an object on a plane or in space, especially during motion, by means of location signals transmitted simultaneously from two transmitters placed on the object at a known distance from each other. A mathematical analysis of the proposed method and Newton’s algorithm for solving the system of nonlinear positional equations is presented. Next, an analysis of a position-dilution-of-precision parameter for the proposed method and a Cramer–Rao lower bound, limiting the accuracy of the method, is presented. Finally, the results of complex simulation studies on the efficiency of the proposed method are described.
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