{"id":"https://openalex.org/W4414908405","doi":"https://doi.org/10.1109/twc.2025.3615980","title":"Moving Rigid Body Localization Using TOA Only","display_name":"Moving Rigid Body Localization Using TOA Only","publication_year":2025,"publication_date":"2025-10-07","ids":{"openalex":"https://openalex.org/W4414908405","doi":"https://doi.org/10.1109/twc.2025.3615980"},"language":"en","primary_location":{"id":"doi:10.1109/twc.2025.3615980","is_oa":false,"landing_page_url":"https://doi.org/10.1109/twc.2025.3615980","pdf_url":null,"source":{"id":"https://openalex.org/S63459445","display_name":"IEEE Transactions on Wireless Communications","issn_l":"1536-1276","issn":["1536-1276","1558-2248"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Transactions on Wireless Communications","raw_type":"journal-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":false,"oa_status":"closed","oa_url":null,"any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":null,"display_name":"Yue Hu","orcid":"https://orcid.org/0009-0009-5882-9157"},"institutions":[{"id":"https://openalex.org/I109935558","display_name":"Ningbo University","ror":"https://ror.org/03et85d35","country_code":"CN","type":"education","lineage":["https://openalex.org/I109935558"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yue Hu","raw_affiliation_strings":["Faculty of Electrical Engineering and Computer Science, Ningbo University, Ningbo, China"],"raw_orcid":"https://orcid.org/0009-0009-5882-9157","affiliations":[{"raw_affiliation_string":"Faculty of Electrical Engineering and Computer Science, Ningbo University, Ningbo, China","institution_ids":["https://openalex.org/I109935558"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100367310","display_name":"Gang Wang","orcid":"https://orcid.org/0000-0001-7018-9513"},"institutions":[{"id":"https://openalex.org/I109935558","display_name":"Ningbo University","ror":"https://ror.org/03et85d35","country_code":"CN","type":"education","lineage":["https://openalex.org/I109935558"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Gang Wang","raw_affiliation_strings":["Faculty of Electrical Engineering and Computer Science, Ningbo University, Ningbo, China"],"raw_orcid":"https://orcid.org/0000-0001-7018-9513","affiliations":[{"raw_affiliation_string":"Faculty of Electrical Engineering and Computer Science, Ningbo University, Ningbo, China","institution_ids":["https://openalex.org/I109935558"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5027768147","display_name":"K. C. Ho","orcid":"https://orcid.org/0000-0002-4883-2151"},"institutions":[{"id":"https://openalex.org/I76835614","display_name":"University of Missouri","ror":"https://ror.org/02ymw8z06","country_code":"US","type":"education","lineage":["https://openalex.org/I76835614"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"K. C. Ho","raw_affiliation_strings":["Department of Electrical Engineering and Computer Science, University of Missouri, Columbia, MO, USA"],"raw_orcid":"https://orcid.org/0000-0002-4883-2151","affiliations":[{"raw_affiliation_string":"Department of Electrical Engineering and Computer Science, University of Missouri, Columbia, MO, USA","institution_ids":["https://openalex.org/I76835614"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":2,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":3.3626,"has_fulltext":false,"cited_by_count":1,"citation_normalized_percentile":{"value":0.9339963,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":94,"max":97},"biblio":{"volume":"25","issue":null,"first_page":"5063","last_page":"5076"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9876999855041504,"subfield":{"id":"https://openalex.org/subfields/2202","display_name":"Aerospace Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9876999855041504,"subfield":{"id":"https://openalex.org/subfields/2202","display_name":"Aerospace Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10052","display_name":"Medical Image Segmentation Techniques","score":0.9829999804496765,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10036","display_name":"Advanced Neural Network Applications","score":0.9731000065803528,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/semidefinite-programming","display_name":"Semidefinite programming","score":0.642300009727478},{"id":"https://openalex.org/keywords/robustness","display_name":"Robustness (evolution)","score":0.6028000116348267},{"id":"https://openalex.org/keywords/rigid-body","display_name":"Rigid body","score":0.5932000279426575},{"id":"https://openalex.org/keywords/orthogonalization","display_name":"Orthogonalization","score":0.5455999970436096},{"id":"https://openalex.org/keywords/relaxation","display_name":"Relaxation (psychology)","score":0.4074999988079071},{"id":"https://openalex.org/keywords/upper-and-lower-bounds","display_name":"Upper and lower bounds","score":0.3855000138282776},{"id":"https://openalex.org/keywords/gaussian","display_name":"Gaussian","score":0.3840999901294708},{"id":"https://openalex.org/keywords/rotation","display_name":"Rotation (mathematics)","score":0.3831999897956848},{"id":"https://openalex.org/keywords/nonlinear-system","display_name":"Nonlinear system","score":0.3767000138759613},{"id":"https://openalex.org/keywords/position","display_name":"Position (finance)","score":0.36579999327659607}],"concepts":[{"id":"https://openalex.org/C101901036","wikidata":"https://www.wikidata.org/wiki/Q2269096","display_name":"Semidefinite programming","level":2,"score":0.642300009727478},{"id":"https://openalex.org/C63479239","wikidata":"https://www.wikidata.org/wiki/Q7353546","display_name":"Robustness (evolution)","level":3,"score":0.6028000116348267},{"id":"https://openalex.org/C145980571","wikidata":"https://www.wikidata.org/wiki/Q192788","display_name":"Rigid body","level":2,"score":0.5932000279426575},{"id":"https://openalex.org/C47559304","wikidata":"https://www.wikidata.org/wiki/Q1702189","display_name":"Orthogonalization","level":2,"score":0.5455999970436096},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.5311999917030334},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.4609000086784363},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.4088999927043915},{"id":"https://openalex.org/C2776029896","wikidata":"https://www.wikidata.org/wiki/Q3935810","display_name":"Relaxation (psychology)","level":2,"score":0.4074999988079071},{"id":"https://openalex.org/C77553402","wikidata":"https://www.wikidata.org/wiki/Q13222579","display_name":"Upper and lower bounds","level":2,"score":0.3855000138282776},{"id":"https://openalex.org/C163716315","wikidata":"https://www.wikidata.org/wiki/Q901177","display_name":"Gaussian","level":2,"score":0.3840999901294708},{"id":"https://openalex.org/C74050887","wikidata":"https://www.wikidata.org/wiki/Q848368","display_name":"Rotation (mathematics)","level":2,"score":0.3831999897956848},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.38019999861717224},{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.3767000138759613},{"id":"https://openalex.org/C198082294","wikidata":"https://www.wikidata.org/wiki/Q3399648","display_name":"Position (finance)","level":2,"score":0.36579999327659607},{"id":"https://openalex.org/C84545080","wikidata":"https://www.wikidata.org/wiki/Q1147936","display_name":"Condition number","level":3,"score":0.3479999899864197},{"id":"https://openalex.org/C83633838","wikidata":"https://www.wikidata.org/wiki/Q1256564","display_name":"Rotation matrix","level":2,"score":0.3440999984741211},{"id":"https://openalex.org/C207570611","wikidata":"https://www.wikidata.org/wiki/Q1256500","display_name":"Rotation group SO","level":2,"score":0.3257000148296356},{"id":"https://openalex.org/C5594486","wikidata":"https://www.wikidata.org/wiki/Q161635","display_name":"Angular velocity","level":2,"score":0.32120001316070557},{"id":"https://openalex.org/C28826006","wikidata":"https://www.wikidata.org/wiki/Q33521","display_name":"Applied mathematics","level":1,"score":0.3163999915122986},{"id":"https://openalex.org/C157972887","wikidata":"https://www.wikidata.org/wiki/Q463359","display_name":"Convex optimization","level":3,"score":0.31450000405311584},{"id":"https://openalex.org/C126795593","wikidata":"https://www.wikidata.org/wiki/Q7333813","display_name":"Rigid transformation","level":2,"score":0.2904999852180481},{"id":"https://openalex.org/C115527620","wikidata":"https://www.wikidata.org/wiki/Q769909","display_name":"Nonlinear programming","level":3,"score":0.2892000079154968},{"id":"https://openalex.org/C139945424","wikidata":"https://www.wikidata.org/wiki/Q1940696","display_name":"Mean squared error","level":2,"score":0.2854999899864197},{"id":"https://openalex.org/C179799912","wikidata":"https://www.wikidata.org/wiki/Q205084","display_name":"Computational complexity theory","level":2,"score":0.2840999960899353},{"id":"https://openalex.org/C41045048","wikidata":"https://www.wikidata.org/wiki/Q202843","display_name":"Linear programming","level":2,"score":0.27250000834465027},{"id":"https://openalex.org/C9936470","wikidata":"https://www.wikidata.org/wiki/Q6510405","display_name":"Least-squares function approximation","level":3,"score":0.2696000039577484},{"id":"https://openalex.org/C148764684","wikidata":"https://www.wikidata.org/wiki/Q621751","display_name":"Approximation algorithm","level":2,"score":0.26019999384880066},{"id":"https://openalex.org/C169241690","wikidata":"https://www.wikidata.org/wiki/Q7828122","display_name":"Total least squares","level":3,"score":0.259799987077713},{"id":"https://openalex.org/C137836250","wikidata":"https://www.wikidata.org/wiki/Q984063","display_name":"Optimization problem","level":2,"score":0.2565999925136566},{"id":"https://openalex.org/C61326573","wikidata":"https://www.wikidata.org/wiki/Q1496376","display_name":"Gaussian process","level":3,"score":0.2540000081062317},{"id":"https://openalex.org/C191795146","wikidata":"https://www.wikidata.org/wiki/Q3878446","display_name":"Norm (philosophy)","level":2,"score":0.25380000472068787},{"id":"https://openalex.org/C2777027219","wikidata":"https://www.wikidata.org/wiki/Q1284190","display_name":"Constant (computer programming)","level":2,"score":0.25290000438690186},{"id":"https://openalex.org/C112680207","wikidata":"https://www.wikidata.org/wiki/Q714886","display_name":"Regular polygon","level":2,"score":0.25130000710487366}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/twc.2025.3615980","is_oa":false,"landing_page_url":"https://doi.org/10.1109/twc.2025.3615980","pdf_url":null,"source":{"id":"https://openalex.org/S63459445","display_name":"IEEE Transactions on Wireless Communications","issn_l":"1536-1276","issn":["1536-1276","1558-2248"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Transactions on Wireless Communications","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G1799285272","display_name":null,"funder_award_id":"62222109","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G6064006148","display_name":null,"funder_award_id":"2023J009","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"}],"funders":[{"id":"https://openalex.org/F4320321001","display_name":"National Natural Science Foundation of China","ror":"https://ror.org/01h0zpd94"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":32,"referenced_works":["https://openalex.org/W1488435683","https://openalex.org/W1564897360","https://openalex.org/W1965524079","https://openalex.org/W1967073510","https://openalex.org/W1997917355","https://openalex.org/W1999588217","https://openalex.org/W2035679020","https://openalex.org/W2100498667","https://openalex.org/W2107376953","https://openalex.org/W2109453544","https://openalex.org/W2110794641","https://openalex.org/W2149310890","https://openalex.org/W2158495097","https://openalex.org/W2165053603","https://openalex.org/W2321847991","https://openalex.org/W2467730917","https://openalex.org/W2565730921","https://openalex.org/W2771588842","https://openalex.org/W2775299739","https://openalex.org/W2907512337","https://openalex.org/W2909624810","https://openalex.org/W2972310519","https://openalex.org/W2994479980","https://openalex.org/W3015813223","https://openalex.org/W3081157420","https://openalex.org/W3083139120","https://openalex.org/W3172441423","https://openalex.org/W4287739204","https://openalex.org/W4312899924","https://openalex.org/W4319996257","https://openalex.org/W4385863191","https://openalex.org/W4400315059"],"related_works":[],"abstract_inverted_index":{"Moving":[0],"rigid":[1,46],"body":[2,47],"localization":[3],"requires":[4],"the":[5,10,33,72,76,98,102,128,134,140,179,194,201,214,219],"estimation":[6],"of":[7,79,131,218],"not":[8],"only":[9,58],"position":[11],"vector":[12],"and":[13,20,35,51,74,82,122,133,151,174,185,216],"rotation":[14,141],"angles":[15],"but":[16],"also":[17,212],"its":[18],"translational":[19,50],"angular":[21,52],"velocities,":[22],"which":[23],"leads":[24],"to":[25,124,127,160,176,199],"a":[26,37,44,65,93,106,155,162,166],"very":[27],"challenging":[28],"problem.":[29,89],"This":[30],"paper":[31],"demonstrates":[32],"feasibility":[34],"develops":[36],"semidefinite":[38,157],"relaxation":[39],"(SDR)":[40],"method":[41,196,220],"for":[42,86,178],"locating":[43],"moving":[45],"with":[48,92,101],"constant":[49],"velocities":[53],"using":[54],"time-of-arrival":[55],"(TOA)":[56],"measurements":[57],"collected":[59],"at":[60],"several":[61],"successive":[62],"instants":[63],"over":[64],"time":[66],"period.":[67],"More":[68],"specifically,":[69],"we":[70,104,148],"analyze":[71],"localizability":[73],"determine":[75],"minimum":[77],"numbers":[78],"anchors,":[80],"sensors,":[81],"observation":[83],"samples":[84],"required":[85],"this":[87,145],"particular":[88],"Afterward,":[90],"beginning":[91],"proposed":[94,195],"model":[95],"by":[96,113,183],"transforming":[97],"TOA":[99],"relation":[100],"unknowns,":[103],"construct":[105],"constrained":[107],"weighted":[108],"least":[109],"squares":[110],"(CWLS)":[111],"problem":[112,119,159],"introducing":[114],"auxiliary":[115],"variables.":[116],"The":[117],"CWLS":[118],"is":[120,170,197],"nonlinear":[121],"complicated":[123],"tackle":[125],"owing":[126],"large":[129],"number":[130],"variables":[132],"special":[135],"orthogonal":[136],"group":[137],"constraint":[138],"on":[139],"matrix.":[142],"To":[143],"solve":[144],"difficult":[146],"problem,":[147],"use":[149],"SDR":[150],"transform":[152],"it":[153],"into":[154],"convex":[156],"programming":[158],"obtain":[161],"preliminary":[163],"estimate.":[164],"Subsequently,":[165],"more":[167],"accurate":[168],"solution":[169],"achieved":[171],"through":[172],"orthogonalization":[173],"refinement":[175],"compensate":[177],"performance":[180,205],"loss":[181],"caused":[182],"approximations":[184],"relaxation.":[186],"Theoretical":[187],"mean":[188],"square":[189],"error":[190],"analysis":[191],"shows":[192],"that":[193],"able":[198],"achieve":[200],"Cram\u00e9r-Rao":[202],"lower":[203],"bound":[204],"under":[206],"small":[207],"Gaussian":[208],"noise.":[209],"Simulation":[210],"results":[211],"demonstrate":[213],"effectiveness":[215],"robustness":[217],"proposed.":[221]},"counts_by_year":[{"year":2026,"cited_by_count":1}],"updated_date":"2026-01-10T23:39:48.068659","created_date":"2025-10-10T00:00:00"}
