Algorithm for Sensor Network Attitude Problem

TL;DR

This paper introduces a quaternion-based algorithm to determine the absolute orientations of sensors in a network using known relative orientations, with comprehensive analysis and validation through simulations and real experiments.

Contribution

The paper presents a novel quaternion-based method for solving the sensor network attitude problem, including detailed complexity and robustness analysis.

Findings

Algorithm successfully determines sensor orientations when all relative attitudes are known.

Validated through simulations and real-world experiments.

Provides insights into spatial and time complexity, and robustness of the approach.

Abstract

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.