Sequential Iterative Cramer-Rao Bound Containing NLOS Signal in Cooperative Localization

Siming Li, Guangxia Li, Jing Lv, Weiheng Dai, Shiwei Tian, Shiwei Tian, Qian Meng

Abstract:	Cramer-Rao Lower Bound (CRLB) has been extensively utilized for wireless location network for its concision and closed form property. In this paper, a generally analytical method and a sequential iterative CRLB (I-CRLB) is proposed and derived for multi-node collaborative scenario with consideration of NLOS distance measurements. According to positively biased property, NLOS range error is fitted by real measurements data, and modeled as Gamma distribution. Based on Gamma distribution, the I-CRLB is obtained by the joint probability of the measurements and system states. This bound is iteratively calculated by chain rules and presents the theoretical accuracy limit of any position estimators under NLOS environments.
Published in:	Proceedings of the 31st International Technical Meeting of the Satellite Division of The Institute of Navigation (ION GNSS+ 2018) September 24 - 28, 2018 Hyatt Regency Miami Miami, Florida
Pages:	2414 - 2420
Cite this article:	Li, Siming, Li, Guangxia, Lv, Jing, Dai, Weiheng, Tian, Shiwei, Tian, Shiwei, Meng, Qian, "Sequential Iterative Cramer-Rao Bound Containing NLOS Signal in Cooperative Localization," Proceedings of the 31st International Technical Meeting of the Satellite Division of The Institute of Navigation (ION GNSS+ 2018), Miami, Florida, September 2018, pp. 2414-2420. https://doi.org/10.33012/2018.15956
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