Journal
INTERNATIONAL JOURNAL OF CONTROL
Volume 86, Issue 10, Pages 1687-1704Publisher
TAYLOR & FRANCIS LTD
DOI: 10.1080/00207179.2013.792606
Keywords
Fisher information matrix; gradient control; optimal sensor placement; target tracking; tight frame
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This paper analytically characterises optimal sensor placements for target localisation 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 optimisation problem and consequently analysed 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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