{"id":"https://openalex.org/W3208906061","doi":"https://doi.org/10.1109/tim.2021.3122521","title":"Cramer\u2013Rao Lower Bound Attainment in Range-Only Positioning Using Geometry: The G-WLS","display_name":"Cramer\u2013Rao Lower Bound Attainment in Range-Only Positioning Using Geometry: The G-WLS","publication_year":2021,"publication_date":"2021-01-01","ids":{"openalex":"https://openalex.org/W3208906061","doi":"https://doi.org/10.1109/tim.2021.3122521","mag":"3208906061"},"language":"en","primary_location":{"id":"doi:10.1109/tim.2021.3122521","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tim.2021.3122521","pdf_url":null,"source":{"id":"https://openalex.org/S10892749","display_name":"IEEE Transactions on Instrumentation and Measurement","issn_l":"0018-9456","issn":["0018-9456","1557-9662"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Transactions on Instrumentation and Measurement","raw_type":"journal-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":false,"oa_status":"closed","oa_url":null,"any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5045097296","display_name":"Daniele Fontanelli","orcid":"https://orcid.org/0000-0002-5486-9989"},"institutions":[{"id":"https://openalex.org/I193223587","display_name":"University of Trento","ror":"https://ror.org/05trd4x28","country_code":"IT","type":"education","lineage":["https://openalex.org/I193223587"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Daniele Fontanelli","raw_affiliation_strings":["Department of Industrial Engineering, Via Sommarive 5, 38123, Trento, Italy. (e-mail: daniele.fontanelli@unitn.it)"],"raw_orcid":"https://orcid.org/0000-0002-5486-9989","affiliations":[{"raw_affiliation_string":"Department of Industrial Engineering, Via Sommarive 5, 38123, Trento, Italy. (e-mail: daniele.fontanelli@unitn.it)","institution_ids":["https://openalex.org/I193223587"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5055118874","display_name":"Farhad Shamsfakhr","orcid":"https://orcid.org/0000-0001-6371-6557"},"institutions":[{"id":"https://openalex.org/I193223587","display_name":"University of Trento","ror":"https://ror.org/05trd4x28","country_code":"IT","type":"education","lineage":["https://openalex.org/I193223587"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Farhad Shamsfakhr","raw_affiliation_strings":["Department of Industrial Engineering, Via Sommarive 5, 38123, Trento, Italy"],"raw_orcid":"https://orcid.org/0000-0001-6371-6557","affiliations":[{"raw_affiliation_string":"Department of Industrial Engineering, Via Sommarive 5, 38123, Trento, Italy","institution_ids":["https://openalex.org/I193223587"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5006224560","display_name":"Luigi Palopoli","orcid":"https://orcid.org/0000-0001-8813-8685"},"institutions":[{"id":"https://openalex.org/I193223587","display_name":"University of Trento","ror":"https://ror.org/05trd4x28","country_code":"IT","type":"education","lineage":["https://openalex.org/I193223587"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Luigi Palopoli","raw_affiliation_strings":["Department of Information Engineering and Computer Science, University of Trento, Via Sommarive 9, 38123, Trento, Italy"],"raw_orcid":"https://orcid.org/0000-0001-8813-8685","affiliations":[{"raw_affiliation_string":"Department of Information Engineering and Computer Science, University of Trento, Via Sommarive 9, 38123, Trento, Italy","institution_ids":["https://openalex.org/I193223587"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I193223587"],"apc_list":{"value":2645,"currency":"USD","value_usd":2645},"apc_paid":null,"fwci":1.7784,"has_fulltext":false,"cited_by_count":31,"citation_normalized_percentile":{"value":0.84768172,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":97,"max":99},"biblio":{"volume":"70","issue":null,"first_page":"1","last_page":"14"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10326","display_name":"Indoor and Outdoor Localization Technologies","score":1.0,"subfield":{"id":"https://openalex.org/subfields/2208","display_name":"Electrical and Electronic Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T10326","display_name":"Indoor and Outdoor Localization Technologies","score":1.0,"subfield":{"id":"https://openalex.org/subfields/2208","display_name":"Electrical and Electronic Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9969000220298767,"subfield":{"id":"https://openalex.org/subfields/2202","display_name":"Aerospace Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10534","display_name":"Structural Health Monitoring Techniques","score":0.9968000054359436,"subfield":{"id":"https://openalex.org/subfields/2205","display_name":"Civil and Structural Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/cram\u00e9r\u2013rao-bound","display_name":"Cram\u00e9r\u2013Rao bound","score":0.7061771154403687},{"id":"https://openalex.org/keywords/ranging","display_name":"Ranging","score":0.6247003078460693},{"id":"https://openalex.org/keywords/square","display_name":"Square (algebra)","score":0.5988057851791382},{"id":"https://openalex.org/keywords/range","display_name":"Range (aeronautics)","score":0.5888540148735046},{"id":"https://openalex.org/keywords/upper-and-lower-bounds","display_name":"Upper and lower bounds","score":0.5804140567779541},{"id":"https://openalex.org/keywords/geometry","display_name":"Geometry","score":0.5427186489105225},{"id":"https://openalex.org/keywords/planar","display_name":"Planar","score":0.5392711162567139},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.47877466678619385},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.4589347541332245},{"id":"https://openalex.org/keywords/mathematical-analysis","display_name":"Mathematical analysis","score":0.38698965311050415},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.37583085894584656},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.14002689719200134},{"id":"https://openalex.org/keywords/telecommunications","display_name":"Telecommunications","score":0.07930967211723328}],"concepts":[{"id":"https://openalex.org/C4978587","wikidata":"https://www.wikidata.org/wiki/Q1138810","display_name":"Cram\u00e9r\u2013Rao bound","level":3,"score":0.7061771154403687},{"id":"https://openalex.org/C115051666","wikidata":"https://www.wikidata.org/wiki/Q6522493","display_name":"Ranging","level":2,"score":0.6247003078460693},{"id":"https://openalex.org/C135692309","wikidata":"https://www.wikidata.org/wiki/Q111124","display_name":"Square (algebra)","level":2,"score":0.5988057851791382},{"id":"https://openalex.org/C204323151","wikidata":"https://www.wikidata.org/wiki/Q905424","display_name":"Range (aeronautics)","level":2,"score":0.5888540148735046},{"id":"https://openalex.org/C77553402","wikidata":"https://www.wikidata.org/wiki/Q13222579","display_name":"Upper and lower bounds","level":2,"score":0.5804140567779541},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.5427186489105225},{"id":"https://openalex.org/C134786449","wikidata":"https://www.wikidata.org/wiki/Q3391255","display_name":"Planar","level":2,"score":0.5392711162567139},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.47877466678619385},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.4589347541332245},{"id":"https://openalex.org/C134306372","wikidata":"https://www.wikidata.org/wiki/Q7754","display_name":"Mathematical analysis","level":1,"score":0.38698965311050415},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.37583085894584656},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.14002689719200134},{"id":"https://openalex.org/C76155785","wikidata":"https://www.wikidata.org/wiki/Q418","display_name":"Telecommunications","level":1,"score":0.07930967211723328},{"id":"https://openalex.org/C146978453","wikidata":"https://www.wikidata.org/wiki/Q3798668","display_name":"Aerospace engineering","level":1,"score":0.0},{"id":"https://openalex.org/C121684516","wikidata":"https://www.wikidata.org/wiki/Q7600677","display_name":"Computer graphics (images)","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/tim.2021.3122521","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tim.2021.3122521","pdf_url":null,"source":{"id":"https://openalex.org/S10892749","display_name":"IEEE Transactions on Instrumentation and Measurement","issn_l":"0018-9456","issn":["0018-9456","1557-9662"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Transactions on Instrumentation and Measurement","raw_type":"journal-article"},{"id":"pmh:oai:iris.unitn.it:11572/328822","is_oa":false,"landing_page_url":"http://hdl.handle.net/11572/328822","pdf_url":null,"source":{"id":"https://openalex.org/S4377196320","display_name":"Iris (University of Trento)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I193223587","host_organization_name":"University of Trento","host_organization_lineage":["https://openalex.org/I193223587"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"info:eu-repo/semantics/article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G2291725055","display_name":null,"funder_award_id":"72101147","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"}],"funders":[{"id":"https://openalex.org/F4320321001","display_name":"National Natural Science Foundation of China","ror":"https://ror.org/01h0zpd94"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":33,"referenced_works":["https://openalex.org/W69406496","https://openalex.org/W1525535255","https://openalex.org/W1545923740","https://openalex.org/W1783251365","https://openalex.org/W1971584523","https://openalex.org/W1988966058","https://openalex.org/W2004415949","https://openalex.org/W2033273950","https://openalex.org/W2039915896","https://openalex.org/W2047152596","https://openalex.org/W2072158021","https://openalex.org/W2074313003","https://openalex.org/W2077627855","https://openalex.org/W2087834451","https://openalex.org/W2094008403","https://openalex.org/W2108941477","https://openalex.org/W2127221630","https://openalex.org/W2130184389","https://openalex.org/W2137197486","https://openalex.org/W2142947066","https://openalex.org/W2153587859","https://openalex.org/W2154930543","https://openalex.org/W2156477559","https://openalex.org/W2157688943","https://openalex.org/W2204949160","https://openalex.org/W2599472104","https://openalex.org/W3038167582","https://openalex.org/W3112154958","https://openalex.org/W3121604798","https://openalex.org/W4206180546","https://openalex.org/W4244323842","https://openalex.org/W6602724567","https://openalex.org/W6788601237"],"related_works":["https://openalex.org/W3091773326","https://openalex.org/W1479746946","https://openalex.org/W2361508590","https://openalex.org/W2143803213","https://openalex.org/W2055757274","https://openalex.org/W2511739151","https://openalex.org/W2155014562","https://openalex.org/W2134404114","https://openalex.org/W1964936841","https://openalex.org/W2026659681"],"abstract_inverted_index":{"The":[0,30,106,137],"positioning":[1],"problem":[2],"addressed":[3],"in":[4,120],"this":[5,52],"paper":[6],"amounts":[7],"to":[8,95,100],"finding":[9],"the":[10,56,59,62,66,74,78,83,88,92,101,121,129,135,140],"planar":[11],"coordinates":[12],"of":[13,19,46,58,65,85,139,152],"a":[14,17,44,70,96,149],"device":[15],"from":[16,23,43,61,134],"collection":[18],"ranging":[20],"measurements":[21],"taken":[22],"other":[24],"devices":[25],"located":[26],"at":[27],"known":[28],"positions.":[29],"solution":[31],"based":[32],"on":[33,87,148],"Weighted":[34],"Least":[35],"Square":[36],"is":[37,109,117,131,142,146],"popular,":[38],"but":[39],"its":[40,115],"accuracy":[41],"depends":[42],"number":[45,151],"factors":[47],"only":[48],"partially":[49],"known.":[50],"In":[51],"paper,":[53],"we":[54],"explore":[55],"dependency":[57],"uncertainty":[60,94],"geometric":[63],"configuration":[64],"anchors.":[67],"We":[68],"show":[69],"refinement":[71],"technique":[72],"for":[73,82,125],"estimate":[75],"produced":[76],"by":[77],"WLS":[79,89,112,126],"that":[80],"compensates":[81],"effects":[84],"geometry":[86],"and":[90,114,145,154],"reduces":[91],"target":[93,130],"value":[97],"very":[98],"close":[99],"Cramer":[102],"Rao":[103],"Lower":[104],"Bound.":[105],"resulting":[107],"algorithm":[108],"called":[110],"Geometric":[111],"(G-WLS)":[113],"application":[116],"particularly":[118],"important":[119],"most":[122],"critical":[123],"conditions":[124],"(i.e.,":[127],"when":[128],"far":[132],"apart":[133],"anchors).":[136],"effectiveness":[138],"G-WLS":[141],"proved":[143],"theoretically":[144],"demonstrated":[147],"large":[150],"experiments":[153],"simulations.":[155]},"counts_by_year":[{"year":2026,"cited_by_count":3},{"year":2025,"cited_by_count":6},{"year":2024,"cited_by_count":10},{"year":2023,"cited_by_count":8},{"year":2022,"cited_by_count":4}],"updated_date":"2026-08-21T09:56:20.448147","created_date":"2025-10-10T00:00:00"}
