Posterior Cramer-Rao lower bound for mobile tracking in mixed LOS/NLOS conditions

The paper studies the theoretical error lower bound of the mobile tracking problem in mixed Line-of-sight (LOS) and non-line-of-sight (NLOS) conditions. A new method is presented to compute the posterior Cramer-Rao lower bound (CRLB): the mobile state is first estimated by decentralized EKF method, then sigma point set and unscented transformation are applied to calculate Fisher information matrix (FIM). Numerical results show that the error performance of three algorithms is in a good agreement with the theoretical bounds.