We consider a novel rigid body localization (RBL) method, based only on a set of measurements of the distances, as well as the angles between sensors of the vehicle to the anchor landmark points. A key point of the proposed method is to use a variation of the super multidimensional scaling (SMDS) algorithm, where only a minor part of the complex edge kernel is used, based on the available information, which in the case of RBL is anchor-to-anchor and target-to-target information. Simulation results illustrate the good performance of the proposed technique in terms of mean square error (MSE) of the estimates, compared also to the corresponding Cram\'er-Rao Lower Bound (CRLB).
@article{arxiv.2509.01223,
title = {SMDS-based Rigid Body Localization},
author = {Niclas Führling and Giuseppe Abreu and David González G. and Osvaldo Gonsa},
journal= {arXiv preprint arXiv:2509.01223},
year = {2025}
}