IEEE Communications Letters · 2014 · 59 citations · 10 references
RadarFormation OptimizationEngineeringUnderwater VehicleOptimal FormationAerospace EngineeringLocation EstimationUnderwater SystemUnderwater RobotField RoboticsOptimal Formation ConfigurationInverse ProblemsLocalization TechniqueUnderwater LocalizationRf LocalizationLocalizationSignal Processing
The study investigates optimal formation configurations for AUV localization using a general measurement model. The authors derive a Cramér–Rao bound–based evaluation function, use it to identify optimal regular and linear formation patterns, and analyze how measurement models, separation angle, and range affect localization sensitivity. Simulations show localization accuracy is more affected by range than by separation angle.
The optimal formation configuration for underwater localization of autonomous underwater vehicle (AUV) with a more general measurements model is investigated. The evaluation function is derived on the basis of Cramer-Rao lower bound (CRLB) or the corresponding Fisher information matrix (FIM). We determine the optimal formation configuration for the regular placement and the linear placement patterns, respectively. Subsequently, the influence of the measurements model on the optimal formation and the sensitivity of the localization performance to the factors, separation angle and range, are also presented. The simulation results demonstrate that the localization performance is more sensitive to the range rather than to the separation angle.
10
Optimality analysis of sensor-target localization geometries
Adrian N. Bishop, Barış Fi̇dan, Brian D. O. Anderson et al. · Automatica · 2009 · 460 citations