The CRLB for WSNs location estimation in NLOS environments

Location estimation in wireless sensor networks (WSNs) has gained considerable attention over the past decade. The Cramer-Rao lower bound (CRLB) has been derived for the Gaussian noise. However, one of the major problems for accurate location in WSNs is the Non-line-of-sight (NLOS) situation. In this paper, the CRLB has been derived for node localization in NLOS environments, which have not been studied in the literature. Computer simulations are included to contrast the CRLBs in different channel environments.