CRLB derivation for mobile tracking in NLOS propagation environments

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