Abstract
Abstract This paper introduces a novel algorithm to find a geometric configuration of ultra-wideband sources in order to provide optimal position estimation performance with Time-Difference-of-Arrival measurements. Different from existing works, we aim to achieve the best localization performance for a user-defined region of interest instead of a single target point. We employ an analysis based on the Cramer-Rao lower bound and dilution of precision to formulate an optimization problem. A Bayesian optimization-based algorithm is proposed to find an optimal geometry that achieves the smallest estimation variance upper bound while ensuring source placement constraints. The approach is validated through simulation and experimental results in 2D scenarios, showing an improvement over a naive source placement.
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