Abstract: To improve the accuracy of the rigid body localization in non-line-of-sight environments, the method of rigid body localization using time domain information of wireless signals is proprosed to overcome the influence of non-line-of-sight errors in the localization performance. First, the non-line-of-sight deviation is introduced as an auxiliary variable to transform the rigid body sensor position estimation into a generalized trust region sub-problem. Then, the position of the rigid body sensor is estimated by the bisection method. Finally, the position and the orientation of the rigid body are calculated according to the singular value decomposition. Simulation results demonstrate that the proposed method performs well in terms of the localization performance.

Key words: rigid body localization, non-line-of-sight error , generalized trust region sub-problem