An Optimal Receiver Deployment Method for Achieving Robust Localization Performance in Practical Environments

In this paper, we propose a receiver deployment optimization method that ensures robust localization performance under Direction of Arrival (DoA) estimation errors arising in practical environments. The proposed method accounts for DoA estimation errors and optimizes receiver deployments by incorporating Position Dilution of Precision (PDoP) to mitigate their amplification into localization errors. To accurately characterize DoA estimation errors under realistic propagation and installation constraints, a ray-tracing-based Wireless InSite simulator is employed to model environments including actual terrain and buildings. Based on this model, a cost function incorporating both the DoA estimation errors at each receiver and the PDoP is defined, and a Genetic Algorithm (GA) is applied to minimize this cost function and determine the optimal receiver deployment. The optimal deployment achieves low localization RMSE and maintains high robustness against environmental and system uncertainties, particularly when the standard deviation of the DoA estimation error exceeds approximately 8°. These results demonstrate that the proposed deployment method provides reliable localization performance in realistic propagation environments and remains robust against increasing DoA estimation errors.