Posterior Cramer-Rao Bound for Inertial Sensors Enhanced Mobile Positioning Under The Random Walk Motion Model

This letter presents a new posterior Cramér-Rao bound (PCRB) for inertial sensors enhanced mobile positioning, which performs hybrid data fusion of parameters including position estimates, pedestrian step size, pedestrian heading, and the knowledge of random walk motion model. Moreover, a non-matrix closed form of the PCRB is derived without position estimates. Finally, our numerical results show that when the accuracy of step size and heading measurements is high enough, the knowledge of random walk model becomes redundant.