Fixed-time network localization based on bearing measurements

In this paper, we study a network localization problem using only bearing measurements. By applying the fixed-time controller design technique in [1] to the existing bearing-only estimation law in [2], a fixed-time bearing-based network localization law is proposed. We show that when the network has a directed acyclic structure with some beacon nodes, the true positions of all nodes can be determined in finite time. We show that the convergence time is upper bounded by a value which is independent of the initial estimated positions. Finally, simulations are given to support the analysis.