Optimal Sensor Placement for Range-Based Dynamic Random Localization

Author

Xinpeng Fang ; Weisheng Yan ; Fubin Zhang ; Junbing Li

Author_Institution

Sch. of Marine Sci. & Technol., Northwestern Polytech. Univ., Xi´an, China

Volume

12

Issue

12

fYear

2015

Firstpage

2393

Lastpage

2397

Abstract

The relative sensor-target formation configuration can significantly affect the potential performance of any particular localization algorithm. An evaluation measure based on the one-step prediction error covariance in extended Kalman filter process is derived in this letter. We determine the optimal sensor placement for the range-only localization considering the prior target location information. The conclusions are different from that in the static estimation problem.

Keywords

Kalman filters; covariance analysis; sensor placement; extended Kalman filter; one-step prediction error covariance; optimal sensor placement; particular localization algorithm; range-based dynamic random localization; range-only localization; relative sensor-target formation configuration; static estimation problem; Covariance matrices; Extraterrestrial measurements; Geometry; Optimization; Robot sensing systems; Target tracking; Uncertainty; Evaluation function; localization performance; optimal formation; prior information;

fLanguage

English

Journal_Title

Geoscience and Remote Sensing Letters, IEEE

Publisher

ieee

ISSN

1545-598X

Type

jour

DOI

10.1109/LGRS.2015.2478788

Filename

7293122