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Indoor positioning has become a hot research topic due to a plethora of interesting applications ranging from emergency responder tracking to location-based services. In this work we focus on the problem of network localization also sometimes called collaborative localization where a network of nodes is to be localized using both connections to anchors (when they exist) and connections between unlocalized...
In this paper, we derive the Cramer-Rao lower bound (CRLB) for the 2-dimensional (2D) time-of-arrival (TOA) based localization. Unlike previous work on the CRLB, we consider a more practical propagation channel and relate it to inter-node range estimate through a distance-dependent variance model. We demonstrate that this will impact the derivation of the Fisher information matrix (FIM), eventually...
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