Title :
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
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;
Journal_Title :
Geoscience and Remote Sensing Letters, IEEE
DOI :
10.1109/LGRS.2015.2478788
