Effects of anchor placement on mean-CRB for localization

In this paper we discuss the lower bound i.e. the Cramer-rao-bound (CRB) on the accuracy of localization of nodes in a wireless network. We investigate the effects of anchor (or base station) placement on optimal target node positioning. The optimal and worst anchor positions are determined through extended simulation by comparing their mean CRB. Furthermore the ramifications of an additive and multiplicative noise model on the mean CRB are explored. Finally, the least squares (LS) method for localization is used and its performance is compared with the lower bound for optimal anchor positions.