Lower bound of error in AOA based passive source localization using single moving platform

Error assessment is one of the great considerations in any position-finding (PF) system. In this paper it is assumed that a single moving sensor measures the Angle Of Arrival (AOA) of the signals emitted by a stationary source. These AOA measurements are used to find true position of the source. Regarding such a scenario, source estimated location error is analyzed and a lower bound of error is extracted regarding Cramer-Rao criteria.