Bayesian CRLB for hybrid ToA and DoA based wireless localization with anchor uncertainty

摘要

In this paper, we derive the Bayesian Cramér-Rao lower bound for three dimensional hybrid localization using time-of-arrival (ToA) and direction-of-arrival (DoA) types of measurements. Unlike previous works, we include the practical constraint that the anchor position is not known exactly but rather up to some error. The resulting bound can be used for error analysis of such a localization system or as an optimalitycriterion for the selection of suitable anchors.