Fixed-Time Distributed Position Estimation of Multiagent Systems Based on Local Bearing Measurement
Yunkai Lv, Huaicheng Yan, Kai Rao, Hao Zhang, Youmin M. Zhang · IEEE/ASME Transactions on Mechatronics · 2025
This article addresses the localizability of local-bearing-based multiagent systems without common orientation, which are more general but also more challenging than global-bearing-based multiagent systems. A novel local-bearing-based fixed-time orientation estimation algorithm is first proposed for orientation alignment. Local bearing information is more easily obtained than the global one, making the new orientation estimation result applicable in a wider range of scenarios. Combined with the orientation estimation algorithm, a fixed-time distributed position estimation algorithm is proposed to realize the accurate localization estimation. Leveraging the cascade system, the global convergence of the proposed estimation scheme is derived using a mathematical induction method. A distinctive advantage of the estimation scheme is that it can realize orientation alignment and accurate global absolute position estimation merely using the local bearing measurements. Some simulation and experimental verification results are provided to prove the effectiveness of the proposed estimation algorithms.