Optimal sensing geometry for pseudorange and bearing-elevation observations

Abstract

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. Show more