Multiagent Self-Localization Using Bearing Only Measurements

This paper proposes a two stage approach to solving a simple network localization problem arising in the control of multi-vehicle formation shapes using bearing-only measurements. While it is impossible for one agent to localize, in its own coordinate basis, a second agent undergoing arbitrary plane motion using bearing-only measurements, this paper shows how to use a combination of a Fourier Transform and an overdetermined linear system of equations to allow two agents undergoing plane circular motion to localize each other. It is postulated that each agent only knows the parameters fully describing its own motion and must determine enough parameters of the other agent to localize it. A Fourier Transform of the measured bearing is used by each agent to obtain an approximate magnitude of the other agent's angular velocity and a two-dimensional search grid is used in an overdetermined linear equation system to solve the localization problem. The paper investigates the effect of noise in bearing measurements on the accuracy of the proposed method, offering some potential methods of decreasing the effect of noise.