Abstract
AbstractThis paper mainly focuses on the 3D optimal deployment problem for multiple vehicles using range-only sensors. The relative sensor-target geometry can have a great effect on the performance of target localization, and the Fisher information matrix (FIM, the inverse of Cramer–Rao lower bound) is usually used to evaluate the quality of observation. The determinant of Fisher information matrix (FIM) for multiple 3D range-only sensors is derived based on the relative azimuth angles and elevation angles between target and sensors, which is different from the previous literature. Next, a sufficient condition for optimal deployment geometry of multiple homogeneous range-only sensors to maximize the det(FIM) is derived.KeywordsMulti-sensor systemsOptimal sensor placement3D range-only sensor
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