pydistsim.utils.localization.helpers.get_crb

get_crb(net, sensor, compass='off', loc_type='anchor-free', anchors=[])

Calculates Cramer-Rao lower bound on covariance matrix of unbiased multihop location estimator based on sensor (distance/angle) measurement between in-commrange neighbors.

POS is n by 2 matrix of X and Y coordinates of n nodes SIGMA is standard deviation on measurement vector.

Arguments:

compass – ‘off’ (default) or ‘on’ which means all nodes have compass loc_type – ‘anchor-free’ (default) or ‘anchored’ anchors – list of anchor nodes, used only when loc_type is ‘anchored’

References:

Savvides2003 - Savvides et al,

On the Error Characteristics of Multihop Node Localization in Ad-Hoc Sensor Networks, 2003

Patwari2005 - Patwari et al,

Locating the nodes: cooperative localization in wireless sensor networks

Chang2006 - Chen Chang et al,

Cramer-Rao-Type Bounds for Localization, 2006