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The authors study the problem of cooperative node localization in Non-Line-Of-Sight (NLOS) wireless networks and address design questions such as, "How many anchors and what fraction of Line-Of-Sight (LOS) measurements are needed achieve a specified target accuracy?". They analytically characterize the performance improvement in localization accuracy as a function of the number of nodes in the network and the fraction of LOS measurements. In particular, they show that the Cramer-Rao Lower Bound (CRLB) can be expressed as a product of two factors - a scalar function that depends only on the parameters of the noise distribution and a matrix that depends only on the geometry of node locations. This holds for arbitrary distance and angle measurement modalities under an additive noise model.
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