The Cramer-Rao bounds of hybrid TOA/RSS and TDOA/RSS location estimation schemes

The Cramer-Rao bound (CRB) on location estimation accuracy of two different hybrid schemes, time of arrival/received signal strength (TOA/RSS) and time difference of arrival/received signal strength (TDOA/RSS), is computed. For short-range networks, the hybrid schemes offer improved accuracy with respect to conventional TOA and TDOA schemes, particularly in the proximity of the reference devices.