Single-anchor localization and synchronization of full-duplex agents

The position and time of mobile agents are essential information for many wireless network applications. In this paper, we propose a single-anchor localization and synchronization scheme of full-duplex (FD) agents in the line-of-sight scenario, where the anchor is equipped with an antenna array. The agents perform inter-node ranging using the FD radios, while the anchor only receives signals transmitted from the agents. We derive the Cramér-Rao lower bounds for the agent positions and clock offsets based on the frames received by the agents and anchor. In particular, the Fisher information matrix for the positions and clock offsets can be decomposed into the information from the measurements of the arrival angles and arrival times. Then, we design the channel estimation algorithm to obtain the arrival angles, arrival times, and signal-to-noise ratios, based on which we further develop the network localization and synchronization algorithms to obtain the agent positions and clock offsets. The simulation results illustrate the performance of our proposed scheme and algorithms.