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Theoretical performances assessment of hybrid localization techniques

In this paper, expressions of Cramer Rao lower bounds (CRLB) are derived for non-hybrid and hybrid localization techniques based on RSSI, TOA, and TDOA under Gaussian uncorrelated measurements assumption. Simulations are then carried out using realistic radio parameters values in order to compare different non-hybrid and hybrid localization techniques. CRLBs expressions and simulations show that the number, the nature, the precision of measurements, and the anchors positions are the key parameters that influence positioning accuracy. Hence, the CRLB is proposed as a criterion of localization and a simulation based proof is given.