Research Article
Bound Analysis for Anchor Selection in Cooperative Localization
@INPROCEEDINGS{10.1007/978-3-319-60753-5_1, author={Ping Zhang and Along Cao and Tao Liu}, title={Bound Analysis for Anchor Selection in Cooperative Localization}, proceedings={Industrial IoT Technologies and Applications. Second EAI International Conference, Industrial IoT 2017, Wuhu, China, March 25--26, 2017, Proceedings}, proceedings_a={INDUSTRIALIOT}, year={2017}, month={9}, keywords={Wireless sensor networks Relative configuration Kullback-Cleibler distance Singular value decomposition Internode distances}, doi={10.1007/978-3-319-60753-5_1} }- Ping Zhang
Along Cao
Tao Liu
Year: 2017
Bound Analysis for Anchor Selection in Cooperative Localization
INDUSTRIALIOT
Springer
DOI: 10.1007/978-3-319-60753-5_1
Abstract
Anchor selection refers to choosing a small portion of the nodes with known locations to ensure the unique localizability and/or improve the accuracy of cooperative localization. Focusing on the localization accuracy, conventional practice suggests that the anchors should be deployed on the perimeter of the network. This paper derives the perimeter anchor deployment strategy by performing a bound analysis for the Cramér-Rao lower bound (CRLB) which quantifies the localization accuracy. It is proved that the uniform perimeter anchor deployment strategy is the optimal to fix an isotropically discriminable relative configuration whose nodes are randomly deployed onto a two-dimensional plane. For the relative configuration specified by the internode distance measurements, we introduce an error metric to evaluate the anchor selection performance, together with an upper bound that is independent of anchor selection.