Optimal Sensor Placement for Range-Based Dynamic Random Localization

Xinpeng Fang; Weisheng Yan; Fubin Zhang; Junbing Li

doi:10.1109/LGRS.2015.2478788

Optimal Sensor Placement for Range-Based Dynamic Random Localization

Xinpeng Fang, Weisheng Yan, Fubin Zhang, Junbing Li

School of Marine Science and Technology

Research output: Contribution to journal › Article › peer-review

19 Scopus citations

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.

Original language	English
Article number	7293122
Pages (from-to)	2393-2397
Number of pages	5
Journal	IEEE Geoscience and Remote Sensing Letters
Volume	12
Issue number	12
DOIs	https://doi.org/10.1109/LGRS.2015.2478788
State	Published - Dec 2015

Keywords

Covariance matrices
Extraterrestrial measurements
Geometry
Optimization
Robot sensing systems
Target tracking
Uncertainty

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10.1109/LGRS.2015.2478788

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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.",

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author = "Xinpeng Fang and Weisheng Yan and Fubin Zhang and Junbing Li",

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KW - Geometry

KW - Optimization

KW - Robot sensing systems

KW - Target tracking

KW - Uncertainty

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Optimal Sensor Placement for Range-Based Dynamic Random Localization

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Keywords

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