Simultaneous Self-Localization and Base Station Localization with Resonant Beam

High-precision positioning in GPS-denied environments is a demanding but challenging technology. Resonant Beam Positioning (RBP) utilizes a resonant beam with properties such as energy focusing, self-establishment, self-alignment, and passive operation, offering a promising solution for this task. However, traditional RBP algorithms require a fixed number of resonant beam base stations, which can be costly to expand coverage. To address this limitation, we propose a distributed resonant beam positioning (DRBP) system that simultaneously estimates the base station and mobile target (MT) positions. Firstly, the MT receives resonant beam samples to locate the base station in the limited field of view (FoV) region. Subsequently, it estimates self-position based on the known locations of the base stations. During moving, the DRBP system facilitates self-positioning on the MT side, enabling dynamic expansion of both the number of base stations and the coverage area. Numerical results demonstrate that DRBP achieves a positioning root mean square error (RMSE) of $0.1$ m and a rotation RMSE of 2$^\circ$, validating the system's high accuracy.