Localization error of underwater multistatic scenarios with uncertain transducers´ location

This publication investigates the impact of inaccurate source and receiver positions on multi-static localization errors. A geometry-based localization error estimate is derived for such situations and it is demonstrated that such error estimate can be exact in some cases. Examples illustrate that the resulting localization error is better conditioned than existing localization error estimates for degenerate cases found in the literature. Moreover, the proposed localization error estimate can act as a tight upper bound.