Monostatic indoor localization: Bounds and limits

Multipath-assisted localization is a promising concept for cooperative agent networks to guarantee robust and accurate positioning in indoor environments with harsh radio channel characteristics. It uses two types of measurements: (i) bistatic measurements between agents and (ii) monostatic (bat-like) measurements by the individual agents. This paper presents an in-depth analysis of the position-related information provided by monostatic measurements. The CRLB on the position error is computed and used to analyze the impact of the indoor geometry and to find the limitations of such measurements. A general form of multipath delay gradients, crucial terms in the CRLB relating geometry and channel parameters, is derived for this purpose.