Localization with arrays subject to sensor motion

The effect of random sensor motion on source localization is considered. A lower bound on the error due to sensor motion in the estimate of time delay between a pair of sensors is derived assuming a first-order Markov spectrum for the sensor motion. The dependence of the lower bound on the fluctuation error is studied, and the implications of the bound on processing schemes are examined. The analysis is extended to (M-1) delays and M sensors, and the problem of correlated sensor motion is discussed.