In this paper we characterize the relative sensor-target geometry for bearing-only localization in R 2 . We analyze the geometry in terms of the Cramer-Rao inequality and the corresponding Fisher information matrix, aiming to characterize and state explicit results in terms of the potential localization performance. In particular, a number of interesting results are rigorously derived which highlight erroneous assumptions often made in the existing literature.
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Bishop et al. (2007) studied this question.
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