Optimal sensor placement for Doppler-only target tracking: 1D target motion case

This paper studies the optimal sensor placement problem for Doppler-only target tracking. A 1D target motion is considered on a road/line segment and the optimization criterion for sensor placement is selected to be the total position Cramer Rao Lower Bound (CRLB) over the road/line segment. The results obtained using numerical optimization tools are utilized to propose a simple sub-optimal sensor placement strategy with explicit formulae for the sensor positions. The proposed sub-optimal strategy is shown to obtain very close sensor positions and very similar cost values to the optimal strategy. The merits of the proposed sensor placement strategy are illustrated on a simple target tracking example.