paper

Optimal Sensor Placement for Target Localization and Tracking in 2D and 3D

arXiv:1210.7397 · doi:10.1080/00207179.2013.792606

Abstract

This paper analytically characterizes optimal sensor placements for target localization and tracking in 2D and 3D. Three types of sensors are considered: bearing-only, range-only, and received-signal-strength. The optimal placement problems of the three sensor types are formulated as an identical parameter optimization problem and consequently analyzed in a unified framework. Recently developed frame theory is applied to the optimality analysis. We prove necessary and sufficient conditions for optimal placements in 2D and 3D. A number of important analytical properties of optimal placements are further explored. In order to verify the analytical analysis, we present a gradient control law that can numerically construct generic optimal placements.

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