Research Article
Optimal Uncalibrated RSS Indoor Positioning and Optimal Reference Node Placement Using Cramér-Rao Lower Bound
Figure 1
Numerical verification of the CRLB equation. The left figure shows 2-sigma covariance of simulated position estimates using MLE estimator vs. the covariance from our CRLB expression. Right figure shows the RMSE from simulation data and the CRLB trace.