Analytical estimation of achievable accuracy and optimal sensor placement strategy for multisensor tracking systems
Nassib Nabaa, Robert H. Bishop · Proceedings of SPIE, the International Society for Optical Engineering/Proceedings of SPIE · 1998
This paper provides upper and lower bounds on the tracking accuracy achievable through a distributed network of sensors providing non-linear measurements of a moving target to an extended Kalman filter. Those bounds follow from analytical relations derived for the discrete Kalman filter covariance for a fixed target. The estimation of achievable accuracy leads to an observability and performance analysis function of the sensor locations. The relationship developed are applied to the case of a distributed network of 2D search sensors measuring range and azimuth to a target.