A Least Informative Distribution of Ranging Errors in Robust Estimation of Localization

Abstract

In the framework of the Huber's minimax variance approach to designing robust estimates of localization parameters, a generalization of the classical least informative distributions minimizing Fisher information for location is obtained in the wide class of ranging error distributions with a bounded quantile value. The considered variational problem set up naturally originates from the real-life problem of estimation of the unknown coordinates of an asset surrounded by the beacons with known positions.

Keywords

• robustness
• Fisher information
• localization