Object tracking in a 2D UWB sensor network

We consider object tracking by a UWB sensor network using multipath measurements in different scenarios: single Tx with single Rx, multiple Tx with single Rx and multiple Tx with multiple Rx. For each scenario, we examine the Cramer-Rao lower bound (CRLB) for the high-SNR case where multipath measurements are corrupted by iid Gaussians. We focus on the dense network asymptotics and show how the CRLB is inversely proportional to the number of measurements available to the network as a whole, even when the individual measurements are taken from different locations. An order-optimal semilinear algorithm is given.