Performance bounds for tracking in a multipath environment

Tracking in a multipath environment poses many challenges. It is worth while to quantify the achievable performance bounds in such an environment. However finding the performance bounds could be challenging. This requires calculating derivatives of parameters that are functions of reflection points on walls, with respect to target related quantities. We propose a method to calculate the lower bound for minimum mean squared error (MMSE) in target state estimation in a multipath environment. A novel measurement model is introduced taking into account a general setup with locations of obstacle walls known. Furthermore we model the wall reflectivities as random variables. Simulation results are provided in which we have obtained the bound for various setups.