Ad-hoc localization in multihop setups is a vital component of numerous sensor network applications. Although considerable effort has been invested in the development of multihop localization protocols, to the best of our knowledge the sensitivity of localization to its different setup parameters (network density, ranging system measurement error and beacon density) that are usually known prior to deployment has not been systematically studied. In an effort to reveal the trends and to gain better understanding of the error behavior in various deployment patterns, in this paper we study the Cramer Rao Bound behavior in carefully controlled scenarios. This analysis has a dual purpose. First, to provide valuable design time suggestions by revealing the error trends associated with deployment and second to provide a benchmark for the performance evaluation of existing localization algorithms.
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