Trilateration-based localization algorithm using the lemoine point formulation

Ming Shih Huang, Ram M. Narayanan

Research output: Contribution to journalArticlepeer-review

21 Scopus citations


The centroid of three most closely spaced intersections of constant-range loci is conventionally used as trilateration estimate without rigorous justification. In this paper, we address the quality of trilateration intersections through range scaling factors. Several triangle centres, including centroid, incentre, Lemoine point, and Fermat point, are discussed in detail. Lemoine point (LP) is proposed as the best trilateration estimator thanks to the desired property that the total distance to three triangle edges is minimized. It is demonstrated through simulation that LP outperforms centroid localization without additional computational load. In addition, severe trilateration scenarios such as two-intersection cases are considered in this paper, and enhanced trilateration algorithms are proposed.

Original languageEnglish (US)
Pages (from-to)60-73
Number of pages14
JournalIETE Journal of Research
Issue number1
StatePublished - 2014

All Science Journal Classification (ASJC) codes

  • Theoretical Computer Science
  • Computer Science Applications
  • Electrical and Electronic Engineering


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