Distributed network localization using angle-of-arrival information Part II: Discrete-time algorithm and error analysis

In this paper, we propose a discrete-time distributed algorithm for network localization based on angle-of-arrival (AOA) measurements. This algorithm can be viewed as a special case of the averaging consensus algorithm in the two-dimensional space. We also analyze the localization error under inaccurate anchor positions and angles measurements and provide approximate formulae for the error terms. The effectiveness of our localization algorithm and error assessment tools is demonstrated through numerical examples. The main contribution of our paper lies in the theoretical framework for analyzing AOA-based localization processes as well as assessing localization error.