Sensor Placement for Underwater Source Localization With Fixed Distances

Source localization is a fundamental problem in underwater wireless sensor networks. From the observability analysis, we know that the sensor placement can significantly affect the localization performance. This letter is concerned with the optimal sensor placement for underwater source localization, and a parameter is introduced into the measurement model to represent the distance-dependent noise. The evaluation criterion used to solve the optimal placement is built by the Cramer-Rao lower bound theory. Subsequently, we mainly discuss the case when the distances between the sensors and the source are fixed, and the optimal sensor placement is affected by the relative magnitude of the distances.