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In this paper, bias and Cramer–Rao bound (CRB) analyses for both proposed line of sight (LoS)-based and conventional received signal strength (RSS)-based ranging methods are provided. A minimum bias of LoS-based ranging is derived, which is based on the asymptotic variance (AsV) of the estimator. Mean square error lower bound (MSEB), which is the summation of CRB and the square of minimum bias, is...
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