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Accurate positional information is essential for many applications in wireless networks. Time-Of-Arrival (TOA) and Angle-Of-Arrival (AOA) are the two most commonly used signal metrics for localizing nodes with unknown positions. In this paper, the authors consider a wireless network in which each node is equipped with a wideband antenna array capable of performing both TOA and AOA measurements. Since both the position and orientation of the agent are of interest, they propose a localization framework that jointly estimates these two parameters. The notion of equivalent Fisher information is applied to derive the squared error bounds for the position and orientation.
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