Comparing the Cramer-Rao bounds for distributed radar with and without previous detection information

In this paper, two different Cramer-Rao bounds are compared for joint target position and velocity estimation for either active or passive radar. The first bound considers the case where the target has been previously detected in a given range cell, so that propagation loss can be estimated. The second bound does not assume the target can be localized to a given range cell. The comparisons are carried out for Gaussian pulse signals, receive and transmit antennas placed on a circle, and various target locations.