Multilateration (Local and Wide area) as a distributed sensor system: lower bounds of accuracy

The aims of this work is to analyse the Cramér Rao Lower Bound (CRLB) for passive location of radio sources, as in Multilateration (MLAT) systems and in their Wide Area version. The CRLB is used, in this paper, as the analysis method for the accuracy of position estimation using different measurements, related in a non-linear way to the target kinematics . The basic measurement is the classical TDOA (Time Difference of Arrival used in hyperbolic location) with the possible addition of the Differential Doppler shift or Frequency Difference Of Arrival (FDOA); other measurement such as Angle of Arrival or Differential Phase may be added to the proposed mathematical model.