6D Rigid Body Localization and Velocity Estimation via Gaussian Belief Propagation
We propose a novel message-passing solution to the sixth-dimensional (6D) moving rigid body localization (RBL) problem, in which the three-dimensional (3D) translation vector and rotation angles, as well as their corresponding translational and angular velocities, are all estimated by only utilizing the relative range and Doppler measurements between the "anchor" sensors located at an 3D (rigid body) observer and the "target" sensors of another rigid body. The proposed method is based on a bilinear Gaussian belief propagation (GaBP) framework, employed to estimate the absolute sensor positions and velocities using a range- and Doppler-based received signal model, which is then utilized in the reconstruction of the RBL transformation model, linearized under a small-angle approximation. The method further incorporates a second bivariate GaBP designed to directly estimate the 3D rotation angles and translation vectors, including an interference cancellation (IC) refinement stage to improve the angle estimation performance, followed by the estimation of the angular and the translational velocities. The effectiveness of the proposed method is verified via simulations, which confirms its improved performance compared to equivalent state-of-the-art (SotA) techniques.
Code (0)
등록된 구현이 없습니다.
Tasks
Motion EstimationTranslationSimilar Papers 제목 키워드 기반
Belief Propagation-based Rotation and Translation Estimation for Rigid Body Localization
We propose a novel solution to the rigid body localization (RBL) problem, in which the three-dimensional (3D) rotation and translation is estimated by only utilizing the range measurements between the wireless sensors on…
TranslationState Estimation Using Single Body-Frame Bearing Measurements
This paper addresses the problem of simultaneous estimation of the position, linear velocity and orientation of a rigid body using single bearing measurements. We introduce a Riccati observer-based estimator that fuses m…
PositionState EstimationAngular velocity and linear acceleration measurement bias estimators for the rigid body system with global exponential convergence
Rigid body systems usually consider measurements of the pose of the body using onboard cameras/LiDAR systems, that of linear acceleration using an accelerometer and of angular velocity using an IMU. However, the measurem…
Predicting Rigid Body Dynamics using Dual Quaternion Recurrent Neural Networks with Quaternion Attention
We propose a novel neural network architecture based on dual quaternions which allow for a compact representation of informations with a main focus on describing rigid body movements. To cover the dynamic behavior inhere…
PositionGeometric Stochastic Filter with Guaranteed Performance for Autonomous Navigation based on IMU and Feature Sensor Fusion
This paper concerns the estimation problem of attitude, position, and linear velocity of a rigid-body autonomously navigating with six degrees of freedom (6 DoF). The navigation dynamics are highly nonlinear and are mode…
Autonomous NavigationPositionSensor Fusion