Crame-Rao lower bound

Improved solution of cramer-rao lower bound for toa/rss localization

In this paper the problem of evaluation of the bound accuracy for range based localization techniques in wireless sensor networks is considered. The comprehensive analysis of the existing solution of the Cramer-Rao lower bound problem for the anchored localization based on the time of arrival or relative signal strength principles shows certain discrepancy between an analytical solution and simulation results. Therefore, a new bound for this problem has been developed on the basis of more accurate stochastic modeling of the localization error.