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Cramér-Rao Bound for Hybrid GNSS-Terrestrial Cooperative Positioning

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3 Author(s)
Penna, F. ; Dept. of Electron., Politec. di Torino, Turin, Italy ; Caceres, M.A. ; Wymeersch, H.

In this contribution we derive an expression of the Cramér-Rao bound for hybrid cooperative positioning, where GNSS information is combined with terrestrial range measurements through exchange of peer-to-peer messages. These results provide a theoretical characterization of achievable performance of hybrid positioning schemes, as well as allow to identify critical network configurations and devise optimized node placement strategies.

Published in:

Communications Letters, IEEE  (Volume:14 ,  Issue: 11 )