Optimal configuration of multi-sensor based on positioning accuracy

Existing methods for optimal configuration of multi-sensor suited for two dimension only or use numerical simulation to search optimal configuration, only sub-optimum solution can be realized. Based on evaluation index of Cramer-Rao lower bound(CRLB) of positioning, an universal method to obtain analytic solutions for optimal configuration is proposed. Based on this method, we derive that circularly symmetric and uniform distribution is optimal configuration for range only sensors with the same ranges and elevations relative to target, transmitters and receivers can be located independently. Finally, the rationality of the method and the validity of the conclusion are verified through simulation test.