Cramer-Rao performance bounds for simultaneous target and multipath positioning

This work considers the performance of none-light-of-sight (NLOS) target localization method using a distributed receiver array. The multipath propagation is modeled with single bounce reflection from unknown random scatters. A Simultaneous Target and Multipath Positioning (STAMP) method is proposed for jointly estimating the target and scatter positions given Time-of-Arrival (TOA) observations. The Cramer-Rao Lower Bound (CRLB) is derived for the STAMP method and analyzed to establish the identifiability of this joint estimation problem. The CRLB is also extended to the case of data association uncertainty in term of the Fisher Information Reduction Matrix, which is illustrated and further more discussed using numerical examples.