CRLB with pd<1 for bearings only fused tracks
Alfonso Maria Farina, Branko Ristić, S. Immediata, L. Timmoneri · 2003
Abslracl - This paper presents mathematical procedures to calculate the Cramer-Reo Lower Bound (CRLB) for a target track obtained byfusing two tracks provided by two sensors that build up their tracks on the basis of bearings only measurements. It is assumed that the two sensors could have a detection probabilities Pd less than 1. The methods can be easily extended to the fusion of more than two sensor tracks.