Performance Analysis for Multiple Moving Observers Passive Localization in the Presence of Systematic Errors

The presence of systematic errors may have great effect on the performance of passive localization of multiple observers.In this paper the Cramer-Rao lower bound(CRLB) is derived with respect to the measurements corrupted by systematic errors which are obtained by multiple moving observers.First,the statistical information of the measurement error is derived according to the specific systematic error model.Because of the dependence of measurements between different time instants caused by the systematic error,the error covariance matrix is non-diagonal.The recursive calculation form is then derived by rewriting the non-diagonal error covariance matrix into the form of block matrixes.Finally,simulation is performed with respect to multiple moving observers bearings-only passive localization and related localization performance analysis is made.Simulation results indicate that systematic errors can have great effect on the CRLB of location error and more attention should be paid to it.