RSS-Based Cooperative Localization and Orientation Estimation Exploiting Antenna Directivity

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In this paper, we propose a factor-graph-based cooperative positioning algorithm that uses RSS radio measurements and accounts for the directivity of the antennas. This is achieved by modeling the directivity with a parametric antenna pattern and jointly estimating position and orientation of the agents. We propose two different approaches whereas the first one uses a continuous representation of the orientation state and the second one a discrete representation. We validate our proposed methods with simulations and measurements in a static sensor network with more than 900 agents in an indoor environment and show that the positioning accuracy can be improved significantly by considering the influence of orientations.

Original languageEnglish
Pages (from-to)53046-53060
Number of pages15
JournalIEEE Access
Publication statusPublished - 1 Apr 2021


  • Cooperative localization
  • directional antenna
  • factor graph
  • message passing
  • RSS-based localization

ASJC Scopus subject areas

  • Engineering(all)
  • Materials Science(all)
  • Computer Science(all)


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