On the Use of Modified Cramér-Rao Bound in Sensor Deployment

This paper proposes the application of the modified Cramér-Rao bound (MCRB) in a sensor network to perform a prior analysis of the operation in the localization task. This analysis allows knowledge of the behavior of the system without a complete deployment. It also provides essential information to select properly fundamental parameters. To do so, a complete formulation of the modified information matrix and MCRB is developed for the most common measurement models, such as received signal strength, time of arrival, and angle of arrival. In addition, this formulation is extended for heterogeneous models that combine different measurement models. Simulation results demonstrate the utility of the proposed analysis and point out the similarity between MCRB and Cramér-Rao bound.