{'fraction_non_alphanumeric': 0.023661270236612703, 'fraction_numerical': 0.0, 'mean_word_length': 5.380952380952381, 'pattern_counts': {'":': 0, '<': 0, '<?xml version=': 0, '>': 0, 'https://': 0, 'lorem ipsum': 0, 'www.': 0, 'xml': 0}, 'pii_count': 0, 'substrings_counts': 0, 'word_list_counts': {'cursed_substrings.json': 0, 'profanity_word_list.json': 0, 'sexual_word_list.json': 0, 'zh_pornsignals.json': 0}}
Fundamental Performance Limits of TOA-Based Cooperative Localization

Knowledge of node locations is desired in many types of wireless sensor network (WSN) technologies. Cooperative localization has been proved to provide self-calibration in the WSN even in presence of sparse reference nodes and noisy range estimates, as it relies on redundancy exploiting all the available inter-node measurements. In this paper we consider cooperative localization based on time-of-arrival (TOA) inter-node ranging. We analyze the Cramer-Rao bound on the positioning accuracy for one/two dimensional regular network topologies. The aim is to obtain some understanding of the behavior of localization accuracy for varying system settings, as a base for future evaluations of more realistic random network deployments.