Vertically challenged array design for DOA estimation

We consider the use of arbitrary 3D arrays for direction-of-arrival (DOA) estimation, with the commonly used Cramér-Rao Bound (CRB) as the main performance measure. The contribution of this paper is a set of techniques for analyzing the benefits of sensor relocation over uncertain terrain, more specifically where the random elevation is unknown outside of current locations. Suitable arrays for data collection are defined and generated. Measures to assess the effects of planar coordinate improvements and sensor elevations are defined. Descriptions of suitable visualization formats to interpret these measurements are given, and some illustrative results support the utility of the proposed techniques.