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Optimal Sensor Placement for Range-Based Dynamic Random Localization
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DOI：10.1109/LGRS.2015.2478788.png)
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Abstract
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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:
Evaluation function
localization performance
optimal formation
prior information
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