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To improve the performance of the rigid body localization (RBL) in the non-line-of-sight (NLOS) environment, this paper delves into a joint estimation method about the wireless signal transmission parameter and the attitude parameters of the rigid body,employing Time Difference of Arrival (TDOA) and Received Signal Strength (RSS) measurements. In the initial phase, the rigid body sensors localization problem is transformed into a difference of convex (DC) programming based on the TDOA measurement, and the concave&#x2013;convex procedure (CCCP) is adopted to solve the initial estimate of the rigid body sensors position. Subsequently, the positions of the rigid body sensors are estimated based on the RSS measurement, and the wireless signal transmission parameters are obtained by using the weighted least square method. Finally, the minimization objective function is reconstructed is reconstructed by incorporating modified RSS and TDOAmeasurements. The attitude parameters of the rigid body are then determined using a combination of the bisection method and singular value decomposition (SVD). Simulation results demonstrate the effectiveness of this proposed approach in significantly enhancing RBL accuracy under NLOS environments.

Joint Rigid Body Localization and Wireless Signal Transmission Parameter Estimation Under NLOS Environment