Cramér-Rao bound for hybrid GNSS-terrestrial cooperative positioning

Authors:
Federico Penna;Mauricio A. Caceres;Henk Wymeersch
Affiliations:
Politecnico di Torino, Dept. of Electronics, Turin, Italy;Politecnico di Torino, Dept. of Electronics, Turin, Italy;Chalmers University of Technology, Dept. of Signals and Systems, Gothenburg, Sweden
Venue:
IEEE Communications Letters
Year:
2010

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Abstract

In this contribution we derive an expression of the Cramér-Rao bound for hybrid cooperative positioning, where GNSS information is combined with terrestrial range measurements through exchange of peer-to-peer messages. These results provide a theoretical characterization of achievable performance of hybrid positioning schemes, as well as allow to identify critical network configurations and devise optimized node placement strategies.