Ad hoc positioning system (APS) using AOA

Position information of individual nodes is useful in implementing functions such as routing and querying in ad-hoc networks. Deriving position information by using the capability of the nodes to measure time of arrival (TOA), time difference of arrival (TDOA), angle of arrival (AOA) and signal strength have been used to localize nodes relative to a frame of reference. The nodes in an ad-hoc network can have multiple capabilities and exploiting one or more of the capabilities can improve the quality of positioning. In this paper, we show how AOA capability of the nodes can be used to derive position information. We propose a method for all nodes to determine their orientation and position in an ad-hoc network where only a fraction of the nodes have positioning capabilities, under the assumption that each node has the AOA capability.