The effect of position uncertainty in multistatic acoustic localisation

In this paper the effect of source and receiver position uncertainty on multistatic active sonar localisation accuracy is examined. In the general multireceiver, multisource case, the localisation performance of a multistatic active system is highly dependent on the actual geometry under consideration. Here, we focus on two single-source geometries: the basic bistatic geometry with a single receiver and a cooperative monostatic geometry with two receivers, one of which is colocated with the source. We also discuss both the centralised and decentralised multistatic localisation problems. A general procedure for computing the expected localisation accuracy is also presented