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This paper derives the Cramer - Rao Bound (CRB) for source location estimation using joint Time-/Direction-Of-Arrival (TOA/DOA) measurements collected in a wireless sensor network setup. Each sensor is capable of measuring both TOA and DOA from a signal source, which enables it to estimate the source's location individually. Data fusion is then employed to reach a global position estimate. For both optimal measurement fusion and linear state fusion, the authors derive the CRBs to assess the attainable positioning accuracy, which shed light on the impact of network topology and sensor selection on localization accuracy.
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