# Range-based Coordinate Alignment for Cooperative Mobile Sensor Network Localization

arXiv: https://arxiv.org/abs/1812.04201 · HTML: https://mlsanity.com/paper/1812.04201/

## Key facts

- Cited by 1 papers in the map (data through 14 Oct 2026).
- First posted on arXiv 11 Dec 2018.

## Built on by (most cited first, 1 of 1)

- [PRISM-XR: Empowering Privacy-Aware XR Collaboration with Multimodal Large Language Models](https://mlsanity.com/paper/2602.10154/) (2026)

## Abstract (arXiv)

This paper studies a coordinate alignment problem for cooperative mobile sensor network localization with range-based measurements. The network consists of target nodes, each of which has only access position information in a local fixed coordinate frame, and anchor nodes with GPS position information. To localize target nodes, we aim to align their coordinate frames, which leads to a non-convex optimization problem over a rotation group SO(3). Then, we reformulate it as an optimization problem with a convex objective function over spherical surfaces. We explicitly design both iterative and recursive algorithms for localizing a target node with an anchor node, and extend to the case with multiple target nodes. Finally, the advantages of our algorithms against the literature are validated via simulations.