Fundamental Limits for Joint Relative Position and Orientation Estimation

Poehlmann, Robert; Zhang, Siwei; Dammann, Armin; Hoeher, Peter Adam

doi:10.1109/iccw.2018.8403687

Cited by 3 publications

(4 citation statements)

References 16 publications

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“…In contrast, in 3D a single BS does not suffice to determine the UE orientation, since only angles in azimuth and elevation can be measured, unless additional signal sources are available, e.g., reflectors or scatterers [3], reconfigurable intelligent surfaces [12], or additional BSs. Joint localization and orientation estimation was also considered in [13], for anchor-free swarm navigation system, in [14] for visible light positioning, in [15] for realistic channel realizations with hybrid array architectures, and in [16] for relative localization of vehicles. Orientation estimation from range measurements is also possible, as described in [17].…”

Section: Introductionmentioning

confidence: 99%

3D Orientation Estimation with Multiple 5G mmWave Base Stations

Nazari

Seco‐Granados

Johannisson

et al. 2021

ICC 2021 - IEEE International Conference on Communications

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We consider the problem of estimating the 3D orientation of a user, using the downlink mmWave signals received from multiple base stations. We show that the received signals from several base stations, having known positions, can be used to estimate the unknown orientation of the user. We formulate the estimation problem as a maximum likelihood estimation problem in the the manifold of rotation matrices. In order to provide an initial estimate to solve the non-linear non-convex optimization problem, we resort to a least squares estimation problem that exploits the underlying geometry. Our numerical results show that the problem of orientation estimation can be solved when the signals from at least two base stations are received. We also provide the orientation lower error bound, showing a narrow gap between the performance of the proposed estimators and the bound.

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Section: Introductionmentioning

confidence: 99%

3D Orientation Estimation with Multiple 5G mmWave Base Stations

Nazari

Seco‐Granados

Johannisson

et al. 2021

ICC 2021 - IEEE International Conference on Communications

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“…Here we show that the RSS measurementsř = [ř 1 , ...,ř M ] T , withř m given by (21), can be approximated by a Gaussian distribution with mean (22) and covariance matrix (23). For clarity we use scalar notation, the subscript m refers to the m-th element of the respective vector.…”

Section: Appendix B Real Spherical Harmonics and Their Derivativesmentioning

confidence: 97%

“…With a single port antenna, it is only possible to obtain range information by measuring the signal time-offlight (ToF). It has been shown that angular information, in addition to range information, is very valuable for autonomous navigation of multi-agent robotic systems, as it enables orientation estimation and makes positioning more robust [22]. Going one step further and applying the TCM to construct a multiport antenna, what we call MMA, would allow DoAs estimation and thus make angular information available.…”

Section: Introductionmentioning

confidence: 99%

On the Potential of Multi-Mode Antennas for Direction-of-Arrival Estimation

Pöhlmann

Almasri

Zhang

et al. 2019

IEEE Trans. Antennas Propagat.

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A multi-mode antenna (MMA) can be an interesting alternative to a conventional phased antenna array for directionof-arrival (DoA) estimation. By MMA we mean a single physical radiator with multiple ports, which excite different characteristic modes. In contrast to phased arrays, a closed-form mathematical model of the antenna response, like a steering vector, is not straightforward to define for MMAs. Instead one has to rely on calibration measurement or electromagnetic field (EMF) simulation data, which is discrete. To perform DoA estimation, an array interpolation technique (AIT) and wavefield modeling (WM) are suggested as methods with inherent interpolation capabilities, fully taking antenna nonidealities like mutual coupling into account. We present a non-coherent DoA estimator for low-cost receivers and show how coherent DoA estimation and joint DoA and polarization estimation can be performed with MMAs. Utilizing these methods, we assess the DoA estimation performance of an MMA prototype in simulations for both 2D and 3D cases. The results show that WM outperforms AIT for high SNR. The coherent estimation is superior to non-coherent, especially in 3D, because non-coherent suffers from estimation ambiguities. In conclusion, DoA estimation with a single MMA is feasible and accurate.

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“…to achieve a mission goal while keeping a favorable formation [8], [9], the orientation of the agents must be known as well. Fundamental limits for cooperative position and orientation estimation are investigated in [10], [11] for ideal antenna arrays and in [12] for multi-mode antennas (MMAs). A recent review regarding theoretical aspects of cooperative positioning can be found in [13], and regarding practical aspects in [14].…”

Section: Introductionmentioning

confidence: 99%

Multi-Mode Antenna Enabled Direction-of-Arrival Estimation for Swarm Navigation

Pöhlmann

Pedregosa

Caizzone

et al. 2019

2019 16th Workshop on Positioning, Navigation and Communications (WPNC)

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Robotic swarm or multi-agent systems attract increasing attention for extraterrestrial exploration missions, among others. Control of a swarm requires communication among agents and accurate knowledge about their position and orientation. Both can be provided by radio signals exchanged between the agents. For navigation, round-trip delay (RTD) and direction-of-arrival (DoA) are informative signal metrics, as they relate to the relative distances and angles between the agents. DoA estimation is usually performed using antenna arrays. Recently, multi-mode antennas (MMAs) have been suggested as an alternative, but so far only theoretical results exist. This paper presents measurement results for DoA estimation with a single MMA mounted on a rover. The median estimation error of 7.2 • for a moving rover proves the potential of DoA estimation with an MMA.

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Fundamental Limits for Joint Relative Position and Orientation Estimation

Cited by 3 publications

References 16 publications

3D Orientation Estimation with Multiple 5G mmWave Base Stations

3D Orientation Estimation with Multiple 5G mmWave Base Stations

On the Potential of Multi-Mode Antennas for Direction-of-Arrival Estimation

Multi-Mode Antenna Enabled Direction-of-Arrival Estimation for Swarm Navigation

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