Posterior Cramer-Rao Lower Bounds of RFID localization

The usage of Radio Frequency Identification (RFID) as an identification and localization technique is quite common nowadays. The knowledge of the position of a passive UHF RFID label can be achieved via Received Signal Strength Indicator (RSSI) values and an (Constrained) Unscented Kaiman Filter ((C)UKF). Formulating different constraints leads to different approaches for the localization. To be able to compare the performance of these methods the Posterior Cramer-Rao Lower Bound (PCRLB) is calculated. The calculated PCRLBs for the various approaches lead to the conclusion that it is important to include all available information into the filter functions.