Target localization with binary observations: Effect of censoring non-detecting sensors

The problem of localization of an uncooperative target with binary detectors is considered. The effect of neglecting data from (censoring) non-detecting sensors, assumed in most existing algorithms, is studied. A general analysis of the percentage of Fisher information lost due to censoring is presented. This provides a quantitative measure for deterioration of the Cramer-Rao bound due to this censoring strategy. The results are then used to quantify this loss for the case of Rayleigh fading.