A New Rigid Body Localization Scheme Exploiting Participatory Search Algorithm

Since both the position and the orientation of a rigid target can be estimated with a few sensors, which are mounted on the target, it is well known that the rigid body localization (RBL) has various potential applications. In this paper, we propose a new RBL scheme exploiting a participatory search algorithm to simultaneously estimate the unknown parameters for both the three-dimensional displacement and the rotation angles of the target with a single base station using direction of arrival measurements. The performance of the proposed scheme is compared with that of the RBL scheme using a particle swarm optimization algorithm over various conditions such as different noise levels, iterations, various sizes of target, and various search space. According to the results of simulation, the proposed scheme provides higher hit success rate for the optimal solution, lower root mean squared errors in estimation, even with less computational complexity.