Performance bounds for sensor registration

This paper explores the subject of Cramer-Rao lower bounds for unbiased sensor registration algorithms. Two Cartesian coordinate systems are considered: a two-dimensional regional plane for tactical surveillance and the Earth-centred-Earth-fixed (ECEF) coordinates for wide area surveillance. The theoretical performance bound is of fundamental importance both for algorithm performance assessment and for the prediction of best achievable performance given target and sensor location, and number and accuracy of measurements. The performance of the iterative least-squares registration algorithm, obtained by Monte Carlo simulations, is compared to the theoretical bounds.