Analysis of Optimal Range Sensor Placement for Tracking a Moving Target

To improve target tracking performance, it is necessary not only to model target dynamics well, but also to employ high accuracy sensors. In addition to this, the geometry between the sensors and the target also significantly affects the tracking performance. In this letter, we give a closed-form formula for the optimal range sensor placement problem, by minimizing the errors both in the position and velocity estimates when there are two sensors. Using the formula, the effects of errors in a prior position and velocity estimates of a target and tracking filter parameters on the optimal sensor placement are analyzed.