Estimation for Ultra-Wideband Sensor Networks: a Rigidity Perspective

This paper studies the clock parameter estimation and joint position and clock parameter estimation of ultra-wideband (UWB) sensor networks. We propose the clock rigidity theory following a similar approach in distance rigidity and bearing rigidity theory. We show that given the timestamp measurements in a time-of-arrival (TOA) ranging process, the clock parameters in an infinitesimally clock rigid framework can be uniquely determined up to trivial clock variations. We also propose the joint rigidity theory, showing that the positions and clock parameters of an infinitesimally joint rigid framework can be uniquely determined up to trivial joint variations. Simulation results are presented to demonstrate the clock estimation and joint position-clock estimation.