Statistical efficiency of simultaneous target and sensors localization with position dependent noise

This work derives the Cramer-Rao lower bound (CRLB) for an acoustic target and sensor localization system in which the noise characteristics depend on the location of the source. The system itself has been previously examined, but without deriving the CRLB and showing the statistical efficiency of the estimator used. Two different versions of the CRLB are derived, one in which direction of arrival (DOA) and range measurements are available ("full-position CRLB"), and one in which only DOA measurements are available ("bearing-only CRLB"). In both cases, the estimator is found to be statistically efficient; but, depending on the sensor-target geometry, the range measurements may or may not significantly contribute to the accuracy of target localization.

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