The CRLB Analysis for Target Localization Based on UAV Swarms

Unmanned aerial vehicle (UAV) swarms-based localization technology are gaining ever-increasing popularity in the field of electromagnetic spectrum due to their highly controllable maneuverability, on-demand coverage and line-of-sight (LoS) links. This paper considers a UAVs-based passive localization system where each UAV is equipped with a uniform circular array to locate the target by processing the received signals. To estimate the accuracy of the localization system, we give a detailed derivation of the Cramer-Rao low bound (CRLB) of the UAVs-based angle-of-arrival (AOA) measurements.