Optimal Sensor Placement and the Geometry of Localization

Keywords: Bearing-only; Cramer-Rao bound; Fisher information; geometry; localization; optimal localization geometries; optimal sensor placement; range-only; sensor networks; time-difference-of-arrival; time-of-arrival.

At one point we were interested in understanding the geometry of localisation including the idea of optimal sensor placement for localisation with bearing, timing etc measurements. This idea also extends to guidance and tracking problems.

• Optimality Analysis of Sensor-Target Localization Geometries. Adrian N. Bishop, Baris Fidan, Brian D.O. Anderson, Kutluyil Dogancay and Pubudu N. Pathirana. Automatica, 46(3):479-492, March 2010.
• Optimality Analysis of Sensor-Target Geometries in Passive Localization: Part 1 – Bearing-Only Localization.. Adrian N. Bishop, Baris Fidan, Brian D.O. Anderson, Kutluyil Dogancay and Pubudu N. Pathirana. In Proceedings of the 3rd International Conference on Intelligent Sensors, Sensor Networks and Information Processing (ISSNIP'07), Melbourne, Australia.
• Optimality Analysis of Sensor-Target Geometries in Passive Localization: Part 2 – Time-of-Arrival Based Localization. Adrian N. Bishop, Baris Fidan, Brian D.O. Anderson, Pubudu N. Pathirana and Kutluyil Dogancay. In Proceedings of the 3rd International Conference on Intelligent Sensors, Sensor Networks and Information Processing (ISSNIP'07), Melbourne, Australia.
• An Optimality Analysis of Sensor-Target Geometries for Signal Strength Based Localization. Adrian N. Bishop and Patric Jensfelt. In Proceedings of the 5th International Conference on Intelligent Sensors, Sensor Networks and Information Processing (ISSNIP'09), Melbourne, Australia.
• Optimal Trajectories for Homing Navigation with Bearing Measurements. Adrian N. Bishop and Pubudu N. Pathirana. In Proceedings of the 17th World Congress of the International Federation of Automatic Control (IFACWC'08), Seoul, Korea.