Optimum sensor placement for fully and partially controllable sensor networks: A unified approach

This paper considers the problem of optimum sensor placement in 2D for source localization using time of arrival measurements. We adopt a compact expression of the Fisher information matrix and derive the condition for sensor placements that will minimize the trace of the Cramer-Rao lower bound matrix of a source location estimate. The proposed placement criterion and solution framework apply to both fully and partially controllable sensor networks.