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    Length: 14:13
04 May 2020

This paper addresses the rigid body localization problem using angle-of-arrival measurements. We formulate the problem as a constrained weighted least squares (CWLS) minimization problem with the rotation matrix and position vector as variables, which is a challenging non-convex problem. To approximately solve this problem, we first relax it as a convex semidefinite program (SDP), and then tighten the relaxed problem by adding some reasonable second-order cone constraints. Simulations show that the tightened SDP problem is able to reach the performance of the original CWLS problem, making its solution achieve the Cramer-Rao lower bound accuracy, when the noise level is not too high.

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