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A large number of localization algorithms for Wireless Sensor Networks (WSNs) are evaluated against the Cramer-Rao Bound (CRB) as an indicator of how good the algorithm performs. The CRB defines the lower bound on the precision of an unbiased localization estimator. The CRB concept, borrowed from GPS localization, however, does not translate well to WSNs. In this paper, the authors show in which cases the CRB fails to capture troublesome anchor configurations leading to erroneous lower bounds. They continue with a study on the geometrical configurations of anchors favorable to localization algorithms. They conclude by proposing a metric to characterize the stability of the geometry of a certain anchor topology.
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