  This paper studies 3-D distributed network localization using mixed types of
local relative measurements. Each node holds a local coordinate frame without a
common orientation and can only measure one type of information (relative
position, distance, relative bearing, angle, or ratio-of-distance measurements)
about its neighboring nodes in its local coordinate frame. A novel
rigidity-theory-based distributed localization is developed to overcome the
challenge due to the absence of a global coordinate frame. The main idea is to
construct displacement constraints for the positions of the nodes by using
mixed local relative measurements. Then, a linear distributed localization
algorithm is proposed for each free node to estimate its position by solving
the displacement constraints. The algebraic condition and graph condition are
obtained to guarantee the global convergence of the proposed distributed
localization algorithm.
