Distributed Joint Localization and Clock Synchronization in TOA-based Sensor Networks Using Joint Rigidity Theory

This paper studies the joint localization and clock synchronization problem in a time-of-arrival-based sensor network employing joint rigidity theory. First, we study the topological conditions and prior information requirements for uniquely determining the network position and clock parameters. Second, we propose a distributed algorithm for the joint localization and clock synchronization problem and discuss the approaches for algorithm initialization. Finally, we analyze the poor conditioning of the problem and propose two possible methods that result in better conditioning as well as maintaining the distributed manner.