Cooperative Location and Orientation Estimation of Asynchronous Networks Using a Single Anchor

Location and orientation information is essential for many applications in the Internet of Things (IoT). In this paper, we propose a single-anchor scheme for location and orientation estimation of asynchronous cooperative IoT, where only the agents need to in turn broadcast their measurement signals and no round trip communications are required between agents and the anchor. The Fisher information matrix (FIM) is derived for the location, orientation and clock offset parameters based on the received signals. The FIM can be divided into those obtained from time delays and angles, then the Cramér-Rao lower bound is obtained for the parameters of interest. Numerical results illustrate that cooperation between agents can achieve significant performance gain and the proposed single-anchor scheme can be a potential solution for joint location and orientation estimation of asynchronous IoT.