Journal of Sensors / 2019 / Article / Tab 2 / Review Article
A Review on Optimal Placement of Sensors for Cooperative Localization of AUVs Table 2 Tabular comparison of literature review.
S No. Reference No. Cooperative Localization technique used Sensor-target configuration Optimality criteria for sensor placement Research challenges considered Solution type Remarks Experimental verification Targets type Target’s position uncertainty considered? Underwater Sound Speed Underwater sound propagation Measurement noise Numerical Analytical stationary Moving 1. [27 ] ToA Multi-sensors Determinant of FIM ✘ ✘ CS ST CS 2. [38 ] TDOA Multi-sensors Evaluation function based on FIM ✘ ✘ VR CR DD ✘ 3. [36 ] AoA Multi-sensors Trace of CRB matrix ✘ ✘ CS ST DD 4. [28 ] ToA Multi-sensors Determinant of FIM ✘ ✘ ✘ CS ST DD 5. [39 ] ToA Multi-sensors Determinant of FIM ✘ ✘ CS ST DD ✘ 6. [37 ] AoA Multi-sensors Trace of CRB matrix ✘ ✘ ✘ CS ST DD 7. [29 ] ToA Multi-sensors Determinant of FIM ✘ ✘ ✘ CS ST CS 8. [30 ] ToA Single-target Single-sensor Determinant of FIM ✘ ✘ ✘ CS ST CS 9. [31 ] ToA Single-target Determinant of FIM ✘ ✘ CS ST CS 10. [32 ] ToA Single-target Empirical Gramians ✘ ✘ CS ST CS ✘ 11. [33 ] ToA Single-target Empirical Gramians ✘ NA CS ST CS ✘ Target position was assumed to be unknown and was estimated using range measurements in each step. 12. [34 ] ToA Single-target Single-sensor Determinant of FIM ✘ ✘ CS ST CS 13. [35 ] ToA Multi-targets two-sensors Determinant of FIM ✘ ✘ CS ST CS
CS : Constant VR : Varying with the depth ST : Propagation along straight path CR : Modelled as propagating along curved path DD : Distance dependent noise variance
