Error Bounds for Localization with Noise Diversity

Duc Viet Le Viet Duc, Jacob Wilhelm Kamminga, Johan Scholten, Paul J.M. Havinga

    Research output: Chapter in Book/Report/Conference proceedingConference contributionAcademicpeer-review

    5 Citations (Scopus)
    13 Downloads (Pure)


    In the context of acoustic monitoring, the location of a sound source can be passively estimated by exploiting time-of-arrival and time-difference-of-arrival measurements. To evaluate the fundamental hardness of a location estimator, the Cramer-Rao bound (CRB) has been used by many researchers. The CRB is computed by inverting the Fisher Information Matrix (FIM), which measures the amount of information carried by given distance measurements. The measurements are commonly expressed as actual distances plus white noise. However, the measurements do include extra noise types caused by time synchronization, acoustic sensing latency, and signal-tonoise ratio. Such noise can significantly affect the performance and depend highly on the sensing platforms such as Android smartphones. In this paper, we first remodel the acousticbased distance measurements considering such additive errors. Then, we derive a new FIM with the new statistical ranging error models. As a result, we obtain new CRBs for both noncooperative and cooperative localization schemes that provide better insight into the causality of the uncertainties. Theoretical analysis also proves that the proposed CRBs for localization become the old CRBs when the additional errors are ignored, which gives a robust check for the new CRBs. Thus, the new CRBs can serve as a benchmark for localization estimators with both new and old measurement models. The new CRBs also indicate that there is room to improve current localization schemes; however, it is a daunting challenge.
    Original languageEnglish
    Title of host publication2016 International Conference on Distributed Computing in Sensor Systems (DCOSS)
    EditorsViet Duc Le
    Number of pages10
    ISBN (Electronic)978-1-5090-1460-6
    ISBN (Print)9781509014613
    Publication statusPublished - 26 May 2016
    Event12th International Conference on Distributed Computing in Sensor Systems, DCOSS 2016 - Washington, United States
    Duration: 26 May 201628 May 2016
    Conference number: 12

    Publication series

    PublisherIEEE Communications Society


    Conference12th International Conference on Distributed Computing in Sensor Systems, DCOSS 2016
    Abbreviated titleDCOSS 2016
    Country/TerritoryUnited States
    Internet address


    • Sound localization
    • EWI-26941
    • time difference of arrivals
    • time of arrivals
    • IR-100415
    • noise diversity
    • Cramer-Rao bound
    • METIS-316892
    • smartphone diversity


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