CRLB for TOA Based Near-Ground Swarm Robotic Localization

Abstract

Localization technology is crucial in swarm robotic system, due to its importance on communication and task allocation. As a special application scenario, the reflection of ground would significantly influence the accuracy of locating near ground swarm robots. In this paper, we derived Cramer-Rao Lower Bound (CRLB) to investigate the locating limits on the base of our proposed near-ground error model. In addition to confirm and comprehensively understand the derivation, we represent adequate simulation results of absolute localization, relative localization and joint localization and the results show that with the height of node increasing, the corresponding CRLB decreases obviously, when the height reaches 20cm above the ground, nodes location estimation can be limited within 0.3m.