Feasibility of Location-Aware Handover for Autonomous Vehicles in Industrial Multi-Radio Environments

. 2020 Nov 5;20(21):6290. doi: 10.3390/s20216290

Algorithm 1: Geometry-based positioning (GBP)

Input:

\hat{φ}

\hat{θ}

\hat{α}

x_{A}

y_{A}

Output:

\hat{x}

\hat{y}

1
Compute the 2D distance between mmWave AP and the robot based on elevation AoA measurement $\hat{φ}$ and the known antenna height difference h
${\hat{d}}_{2 D} = h / \tan (\hat{φ})$
2
Convert the azimuth AoA measurement $\hat{θ}$ at the robot to the angle of departure (AoD) ${\hat{θ}}_{A}$ at the mmWave AP taking into account the array orientation measurement $\hat{α}$ of the robot
${\hat{θ}}_{A} = π - | \hat{θ} - \hat{α} | .$
3
Calculate the robot location based on ${\hat{d}}_{2 D}$ and ${\hat{θ}}_{A}$
$[\begin{matrix} \hat{x} \\ \hat{y} \end{matrix}] = [\begin{matrix} x_{A} + {\hat{d}}_{2 D} \cos {\hat{θ}}_{A} \\ y_{A} + {\hat{d}}_{2 D} \sin {\hat{θ}}_{A} \end{matrix}]$