The Cramer-Rao lower bound (CRLB) is a mathematical tool used to determine the accuracy of estimators, such as those used in RSS-based localization. The 2D version of this tool can be extended to 3D scenarios by taking into account the additional dimension of height. In 3D scenarios the device’s location must be estimated with respect to three axes instead of two: longitude, latitude, and altitude.
When estimating a device’s location using RSS-based techniques, the accuracy of the estimates depends on several factors including signal propagation speed and signal strength at each anchor point. These parameters affect how accurately a device’s position can be determined from its received signals as well as how quickly it can be located within an area. By extending the 2D CRLB for RSS-based localization to 3D scenarios we are able to more accurately predict both how accurate our estimates will be and how quickly we can locate devices in 3 dimensions.
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