Performance Gain Analysis for Introducing Relays to Rigid Body Localization Using TOAs and AOAs

This paper analyzes the performance gain of rigid body localization (RBL) using time-of-arrival (TOA) and angle-of-arrival (AOA) measurements, when introducing non-regenerative relays having unknown positions. Although the introduction of the relays can generate more measurements, more unknown parameters are also introduces since the relay positions are not known. Hence, it is not clear whether the additional non-regenerative relays can improve the localization performance of the rigid body. To answer this question, we conduct the Cramer-Rao lower bound (CRLB) analysis and show theoretically that the answer to this question is affirmative. Simulation results confirm the correctness of the theoretical result.