CRLB derivation for mobile tracking in NLOS propagation environments

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Conference Proceeding
2012 International Symposium on Communications and Information Technologies, ISCIT 2012, 2012, pp. 1148 - 1153
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This article presents theoretical analysis for mobile tracking in non-line-of-sight (NLOS) propagation environments. With some approximations concise analytical formulas are derived for the Cramer-Rao lower bound (CRLB) for positioning when measurements of distance, heading angle, and velocity are employed to estimate the mobile position. The derived lower bound can be used as a reference for the evaluating of various mobile tracking algorithms in NLOS scenarios. © 2012 IEEE.
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