Root-MSE geolocation performance using angle-of-arrival measurements

In this paper, we describe a procedure for evaluating the fundamental root-mean-square-error (root-MSE) accuracy of a single moving sensor system collecting angle-of-arrival (AOA) measurements of a single stationary emitter in two dimensions. The procedure assumes a known probability density function (p.d.f.) for a set of AOA measurements of azimuthal angle that are statistically-independent from each other. We construct the closed-form p.d.f. of the emitter position from these measurements based on the motion of the sensor, from which the root-MSE is numerically evaluated. The procedure has a number of useful capabilities, including (i) assessing the performance capabilities of a chosen AOA-based geolocation algorithm, (ii) determining the effect of the trajectory speed, direction, and AOA collection rate on overall geolocation performance, and (iii) judging the benefits and drawbacks of various data processing strategies.