ML Estimation of true Height in 2-D Radar Network

In this paper, a method based on maximum likelihood to estimate the target true height in 2-D radar network is presented, and it is mathematically proved that the estimator is unbiased The Cramer-Rao low bound (CRLB) of estimation error is also derived Some conclusions are drawn based on simulations. It´s concluded that the bearing error only has a bounded influence on CRLB, however, the influence on CRLB exerted by ranging error is unbounded It´s also found that CRLB is superlinear function of target-radar distance, and CRLB affected by target altitude or baseline length acutely as target altitude or baseline length is small.