PT  - JOURNAL ARTICLE
AU  - Cheng Ann, Alvin Goh
AU  - Foong, Shaohui
AU  - Ahmed, Alvee
AU  - Soh, Gim Song
TI  - Adapting the Boerdijk–Coxeter helix as node configuration for GPS-denied localization in three dimensions
AID  - 10.1002/navi.446
DP  - 2021 Sep 21
TA  - NAVIGATION: Journal of the Institute of Navigation
PG  - 485--506
VI  - 68
IP  - 3
4099  - https://navi.ion.org/content/68/3/485.short
4100  - https://navi.ion.org/content/68/3/485.full
SO  - NAVIGATION2021 Sep 21; 68
AB  - We propose the Boerdijk–Coxeter Helix (BC Helix) model geometry as a potential node configuration for human users who are localizing within an unstructured environment. When the localization nodes are placed in Boerdijk–Coxeter Helix geometry, the nodes form a regular pattern such that the user can plant new nodes in his or her direction of travel without compromising coverage area or orientation. This paper is also a follow-up to an earlier research paper examining algorithms for three-dimensional localization using a barometer to assist finding the z-coordinate. We provide simulation results examining the potential effects of the Boerdijk–Coxeter Helix geometry on localization accuracy and computation time, and experimental results showing the potential of the helix geometry compared to the random placement of nodes.