Algorithm for Sensor Network Attitude Problem
This work provides a linear algebra-based solution for the sensor network attitude problem, which is relevant for applications requiring absolute orientation from relative measurements.
The paper presents an algorithm using quaternion formalism to solve the sensor network attitude problem, where the attitude of each sensor is retrieved from known relative orientations. The algorithm is fully characterized in terms of spatial and time complexity and robustness, and validated through simulations and real experiments.
Sensor network attitude problem consists in retrieving the attitude of each sensor of a network knowing some relative orientations between pairs of sensors. The attitude of a sensor is its orientation in an absolute axis system. We present in this paper a method for solving the sensor network attitude problem using quaternion formalism which allows to apply linear algebra tools. The proposed algorithm solves the problem when all of the relative attitudes are known. A complete characterisation of the algorithm is established: spatial complexity, time complexity and robustness. Our algorithm is validated in simulations and with real experiments.