TY - GEN
T1 - Optimal sensing geometry for pseudorange and bearing-elevation observations
AU - Kim, Jonghyuk
AU - Chen, Weikun
PY - 2017
Y1 - 2017
N2 - In this paper, we investigate the sensing geometry in the context of tightly-coupled simultaneous localisation and mapping, which fuses pseudoranges from GPS satellites and the bearing-elevation observations from ground landmarks. The concept of geometrical dilution of precision has been widely applied for the pseudorange observations but needs to be generalised to account for the angular measurements. In this work, we derive a closed-form solution for the determinant of the Fisher information matrix using a minimal set of observations, which offers insights on the optimal sensing geometry and thus the effective sensing strategy.
AB - In this paper, we investigate the sensing geometry in the context of tightly-coupled simultaneous localisation and mapping, which fuses pseudoranges from GPS satellites and the bearing-elevation observations from ground landmarks. The concept of geometrical dilution of precision has been widely applied for the pseudorange observations but needs to be generalised to account for the angular measurements. In this work, we derive a closed-form solution for the determinant of the Fisher information matrix using a minimal set of observations, which offers insights on the optimal sensing geometry and thus the effective sensing strategy.
UR - http://www.scopus.com/inward/record.url?scp=85049795817&partnerID=8YFLogxK
M3 - Conference contribution
T3 - Australasian Conference on Robotics and Automation, ACRA
SP - 272
EP - 277
BT - Australasian Conference on Robotics and Automation, ACRA 2017
A2 - Alempijevic, Alen
A2 - Calleja, Teresa Vidal
A2 - Kodagoda, Sarath
PB - Australasian Robotics and Automation Association
T2 - Australasian Conference on Robotics and Automation, ACRA 2017
Y2 - 11 December 2017 through 13 December 2017
ER -