Tracking Position and Orientation of a Mobile Rigid Body

Abstract—A framework to track the position and orientation of a moving rigid body is proposed. We consider a setup in which a few wireless sensors are mounted on a rigid body. The topology of how these sensors are mounted on the rigid body is known; however, the absolute position of the sensors or the rigid body itself is unknown. Using range-only measurements between the sensors and a few anchors (nodes with known absolute positions), and a simple kinematic model, we propose an unconstrained, unitarily-constrained, and event-triggered estimator based on Kalman filtering techniques. I