Maximum likelihood angle estimation for signals with known waveforms

Maximum-likelihood estimation (MLE) of the arrival angles of narrowband plane waves when one or all signals have known waveforms is considered. Computationally efficient and rapidly converging algorithms that iteratively maximize the likelihood functions are presented. Cramer-Rao bounds for these estimators are obtained. The conditions under which incorporating knowledge of one or all of the signal waveforms in the estimators improves the accuracy of the angle estimates are described