Performance Analysis of AOA-Based Localization Using the LS Approach: Explicit Expression of Mean-Squared Error

<div>Error bound: (a) <span class="nowrap"><svg height="18.0846pt" id="M265" style="vertical-align:-3.9082pt" version="1.1" viewbox="-0.0498162 -14.1764 55.0673 18.0846" width="55.0673pt" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink"><g transform="matrix(.013,0,0,-0.013,0,0)"><path d="M300 -147C201 -63 143 98 143 270S200 602 300 686L282 710C136 610 70 450 70 271V270C70 89 136 -72 282 -170L300 -147Z"></path></g><g transform="matrix(.013,0,0,-0.013,4.498,0)"><path d="M687 0V35C623 43 611 56 577 144C512 316 450 490 386 665L335 652L130 138C97 54 84 43 18 35V0H242V35C169 44 166 58 181 106C193 146 206 182 217 213H409C424 173 439 130 449 100C465 56 460 44 401 35V0H687ZM390 266H234C260 337 285 410 313 483H316L390 266Z"></path></g><g transform="matrix(.0091,0,0,-0.0091,13.71,-5.741)"><path d="M310 541L304 571C290 586 211 619 185 610L80 76L131 52L310 541Z"></path></g><g transform="matrix(.0091,0,0,-0.0091,17.506,-8.144)"><path d="M870 650H600L593 618C681 609 684 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583V556L161 554C203 552 207 547 207 497V118C207 46 201 38 110 32V0H389Z"></path></g><g transform="matrix(.0091,0,0,-0.0091,47.678,3.858)"><path d="M389 0V32C297 38 291 46 291 118V635C234 613 175 595 109 583V556L161 554C203 552 207 547 207 497V118C207 46 201 38 110 32V0H389Z"></path></g></svg>;</span> (b) <span class="nowrap"><svg height="18.0846pt" id="M266" style="vertical-align:-3.9082pt" version="1.1" viewbox="-0.0498162 -14.1764 52.823 18.0846" width="52.823pt" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink"><g transform="matrix(.013,0,0,-0.013,0,0)"><path d="M300 -147C201 -63 143 98 143 270S200 602 300 686L282 710C136 610 70 450 70 271V270C70 89 136 -72 282 -170L300 -147Z"></path></g><g transform="matrix(.013,0,0,-0.013,4.498,0)"><path d="M687 0V35C623 43 611 56 577 144C512 316 450 490 386 665L335 652L130 138C97 54 84 43 18 35V0H242V35C169 44 166 58 181 106C193 146 206 182 217 213H409C424 173 439 130 449 100C465 56 460 44 401 35V0H687ZM390 266H234C260 337 285 410 313 483H316L390 266Z"></path></g><g transform="matrix(.0091,0,0,-0.0091,13.71,-5.741)"><path d="M310 541L304 571C290 586 211 619 185 610L80 76L131 52L310 541Z"></path></g><g transform="matrix(.0091,0,0,-0.0091,17.506,-8.144)"><path d="M870 650H600L593 618C681 609 684 605 669 516L641 367H261L286 516C302 603 313 610 391 618L398 650H132L123 618C214 610 218 606 200 516L127 130C113 46 107 40 25 32L18 0H290L298 32C204 40 200 42 214 130L250 321H631L596 131C580 47 573 39 484 32L475 0H753L762 32C673 39 668 46 685 130L757 516C772 606 778 610 861 618L870 650Z"></path></g><g transform="matrix(.013,0,0,-0.013,25.741,0)"><path d="M196 417V703C139 687 58 673 7 667V636C63 632 68 623 68 566V24C137 -2 188 -12 244 -12C390 -12 504 97 504 243C504 355 418 454 297 454C277 454 261 447 233 434L196 417ZM196 382C211 387 221 389 238 389C301 389 365 339 365 212C365 87 316 27 262 28C230 29 207 59 201 75C198 83 196 94 196 108V382Z"></path></g><g transform="matrix(.0091,0,0,-0.0091,32.709,-5.944)"><path 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Journal of Sensors

fig4

Figure 4

Figure 4: Performance Analysis of AOA-Based Localization Using the LS Approach: Explicit Expression of Mean-Squared Error 