Posterior Cramer-Rao bound for range-based targed tracking in sensor networks

In the paper, we consider the computation of the posterior Cramer-Rao bound in a problem of target tracking based on received signal strength measurements. This is a theoretical lower bound on the estimation error while assessing the performance of any kind of estimation algorithm. Here the method is applied to a nonlinear filtering problem of tracking a node in wireless sensor networks. Specifically the bound is computed against the root mean square error of two nonlinear filters: bootstrap and unscented particle filter.JRC.G.6-Security technology assessmen