{"id":"https://openalex.org/W2015351323","doi":"https://doi.org/10.1109/tit.2015.2409270","title":"Cram\u00e9r\u2013Rao Lower Bounds of RSS-Based Localization With Anchor Position Uncertainty","display_name":"Cram\u00e9r\u2013Rao Lower Bounds of RSS-Based Localization With Anchor Position Uncertainty","publication_year":2015,"publication_date":"2015-03-06","ids":{"openalex":"https://openalex.org/W2015351323","doi":"https://doi.org/10.1109/tit.2015.2409270","mag":"2015351323"},"language":"en","primary_location":{"id":"doi:10.1109/tit.2015.2409270","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tit.2015.2409270","pdf_url":null,"source":{"id":"https://openalex.org/S4502562","display_name":"IEEE Transactions on Information Theory","issn_l":"0018-9448","issn":["0018-9448","1557-9654"],"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 Information Theory","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/A5045023881","display_name":"Marko Angjelichinoski","orcid":"https://orcid.org/0000-0002-4091-9383"},"institutions":[{"id":"https://openalex.org/I76245029","display_name":"Ss. Cyril and Methodius University in Skopje","ror":"https://ror.org/02wk2vx54","country_code":"MK","type":"education","lineage":["https://openalex.org/I76245029"]}],"countries":["MK"],"is_corresponding":false,"raw_author_name":"Marko Angjelichinoski","raw_affiliation_strings":["Faculty of Electrical Engineering and Information Technologies, Saints Cyril and Methodius University in Skopje, Skopje, Macedonia"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Faculty of Electrical Engineering and Information Technologies, Saints Cyril and Methodius University in Skopje, Skopje, Macedonia","institution_ids":["https://openalex.org/I76245029"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5074770262","display_name":"Daniel Denkovski","orcid":"https://orcid.org/0000-0001-6010-4387"},"institutions":[{"id":"https://openalex.org/I76245029","display_name":"Ss. Cyril and Methodius University in Skopje","ror":"https://ror.org/02wk2vx54","country_code":"MK","type":"education","lineage":["https://openalex.org/I76245029"]}],"countries":["MK"],"is_corresponding":false,"raw_author_name":"Daniel Denkovski","raw_affiliation_strings":["Faculty of Electrical Engineering and Information Technologies, Saints Cyril and Methodius University in Skopje, Skopje, Macedonia"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Faculty of Electrical Engineering and Information Technologies, Saints Cyril and Methodius University in Skopje, Skopje, Macedonia","institution_ids":["https://openalex.org/I76245029"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5042602951","display_name":"Vladimir Atanasovski","orcid":"https://orcid.org/0000-0002-4131-7413"},"institutions":[{"id":"https://openalex.org/I76245029","display_name":"Ss. Cyril and Methodius University in Skopje","ror":"https://ror.org/02wk2vx54","country_code":"MK","type":"education","lineage":["https://openalex.org/I76245029"]}],"countries":["MK"],"is_corresponding":false,"raw_author_name":"Vladimir Atanasovski","raw_affiliation_strings":["Faculty of Electrical Engineering and Information Technologies, Saints Cyril and Methodius University in Skopje, Skopje, Macedonia"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Faculty of Electrical Engineering and Information Technologies, Saints Cyril and Methodius University in Skopje, Skopje, Macedonia","institution_ids":["https://openalex.org/I76245029"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5088774421","display_name":"Liljana Gavrilovska","orcid":"https://orcid.org/0000-0002-6611-2182"},"institutions":[{"id":"https://openalex.org/I76245029","display_name":"Ss. Cyril and Methodius University in Skopje","ror":"https://ror.org/02wk2vx54","country_code":"MK","type":"education","lineage":["https://openalex.org/I76245029"]}],"countries":["MK"],"is_corresponding":false,"raw_author_name":"Liljana Gavrilovska","raw_affiliation_strings":["Faculty of Electrical Engineering and Information Technologies, Saints Cyril and Methodius University in Skopje, Skopje, Macedonia"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Faculty of Electrical Engineering and Information Technologies, Saints Cyril and Methodius University in Skopje, Skopje, Macedonia","institution_ids":["https://openalex.org/I76245029"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":5.4226,"has_fulltext":false,"cited_by_count":94,"citation_normalized_percentile":{"value":0.96041828,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":90,"max":99},"biblio":{"volume":"61","issue":"5","first_page":"2807","last_page":"2834"},"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/T11192","display_name":"Underwater Vehicles and Communication Systems","score":0.9952999949455261,"subfield":{"id":"https://openalex.org/subfields/2212","display_name":"Ocean 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/T12879","display_name":"Distributed Sensor Networks and Detection Algorithms","score":0.9943000078201294,"subfield":{"id":"https://openalex.org/subfields/1705","display_name":"Computer Networks and Communications"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/rss","display_name":"RSS","score":0.8813271522521973},{"id":"https://openalex.org/keywords/position","display_name":"Position (finance)","score":0.6927276253700256},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6342322826385498},{"id":"https://openalex.org/keywords/cram\u00e9r\u2013rao-bound","display_name":"Cram\u00e9r\u2013Rao bound","score":0.5441287159919739},{"id":"https://openalex.org/keywords/node","display_name":"Node (physics)","score":0.49893879890441895},{"id":"https://openalex.org/keywords/network-topology","display_name":"Network topology","score":0.4689960777759552},{"id":"https://openalex.org/keywords/measurement-uncertainty","display_name":"Measurement uncertainty","score":0.46139809489250183},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.451445996761322},{"id":"https://openalex.org/keywords/cognitive-radio","display_name":"Cognitive radio","score":0.4206923246383667},{"id":"https://openalex.org/keywords/wireless-sensor-network","display_name":"Wireless sensor network","score":0.41941314935684204},{"id":"https://openalex.org/keywords/topology","display_name":"Topology (electrical circuits)","score":0.387878954410553},{"id":"https://openalex.org/keywords/data-mining","display_name":"Data mining","score":0.36694303154945374},{"id":"https://openalex.org/keywords/wireless","display_name":"Wireless","score":0.3342048227787018},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.22762209177017212},{"id":"https://openalex.org/keywords/computer-network","display_name":"Computer network","score":0.17441481351852417},{"id":"https://openalex.org/keywords/telecommunications","display_name":"Telecommunications","score":0.15555080771446228},{"id":"https://openalex.org/keywords/estimation-theory","display_name":"Estimation theory","score":0.14729315042495728},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.13908568024635315},{"id":"https://openalex.org/keywords/statistics","display_name":"Statistics","score":0.10299807786941528}],"concepts":[{"id":"https://openalex.org/C2385561","wikidata":"https://www.wikidata.org/wiki/Q45432","display_name":"RSS","level":2,"score":0.8813271522521973},{"id":"https://openalex.org/C198082294","wikidata":"https://www.wikidata.org/wiki/Q3399648","display_name":"Position (finance)","level":2,"score":0.6927276253700256},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6342322826385498},{"id":"https://openalex.org/C4978587","wikidata":"https://www.wikidata.org/wiki/Q1138810","display_name":"Cram\u00e9r\u2013Rao bound","level":3,"score":0.5441287159919739},{"id":"https://openalex.org/C62611344","wikidata":"https://www.wikidata.org/wiki/Q1062658","display_name":"Node (physics)","level":2,"score":0.49893879890441895},{"id":"https://openalex.org/C199845137","wikidata":"https://www.wikidata.org/wiki/Q145490","display_name":"Network topology","level":2,"score":0.4689960777759552},{"id":"https://openalex.org/C137209882","wikidata":"https://www.wikidata.org/wiki/Q1403517","display_name":"Measurement uncertainty","level":2,"score":0.46139809489250183},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.451445996761322},{"id":"https://openalex.org/C149946192","wikidata":"https://www.wikidata.org/wiki/Q3235733","display_name":"Cognitive radio","level":3,"score":0.4206923246383667},{"id":"https://openalex.org/C24590314","wikidata":"https://www.wikidata.org/wiki/Q336038","display_name":"Wireless sensor network","level":2,"score":0.41941314935684204},{"id":"https://openalex.org/C184720557","wikidata":"https://www.wikidata.org/wiki/Q7825049","display_name":"Topology (electrical circuits)","level":2,"score":0.387878954410553},{"id":"https://openalex.org/C124101348","wikidata":"https://www.wikidata.org/wiki/Q172491","display_name":"Data mining","level":1,"score":0.36694303154945374},{"id":"https://openalex.org/C555944384","wikidata":"https://www.wikidata.org/wiki/Q249","display_name":"Wireless","level":2,"score":0.3342048227787018},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.22762209177017212},{"id":"https://openalex.org/C31258907","wikidata":"https://www.wikidata.org/wiki/Q1301371","display_name":"Computer network","level":1,"score":0.17441481351852417},{"id":"https://openalex.org/C76155785","wikidata":"https://www.wikidata.org/wiki/Q418","display_name":"Telecommunications","level":1,"score":0.15555080771446228},{"id":"https://openalex.org/C167928553","wikidata":"https://www.wikidata.org/wiki/Q1376021","display_name":"Estimation theory","level":2,"score":0.14729315042495728},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.13908568024635315},{"id":"https://openalex.org/C105795698","wikidata":"https://www.wikidata.org/wiki/Q12483","display_name":"Statistics","level":1,"score":0.10299807786941528},{"id":"https://openalex.org/C66938386","wikidata":"https://www.wikidata.org/wiki/Q633538","display_name":"Structural engineering","level":1,"score":0.0},{"id":"https://openalex.org/C162324750","wikidata":"https://www.wikidata.org/wiki/Q8134","display_name":"Economics","level":0,"score":0.0},{"id":"https://openalex.org/C114614502","wikidata":"https://www.wikidata.org/wiki/Q76592","display_name":"Combinatorics","level":1,"score":0.0},{"id":"https://openalex.org/C10138342","wikidata":"https://www.wikidata.org/wiki/Q43015","display_name":"Finance","level":1,"score":0.0},{"id":"https://openalex.org/C111919701","wikidata":"https://www.wikidata.org/wiki/Q9135","display_name":"Operating system","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/tit.2015.2409270","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tit.2015.2409270","pdf_url":null,"source":{"id":"https://openalex.org/S4502562","display_name":"IEEE Transactions on Information Theory","issn_l":"0018-9448","issn":["0018-9448","1557-9654"],"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 Information Theory","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":44,"referenced_works":["https://openalex.org/W595252221","https://openalex.org/W1558630088","https://openalex.org/W1965392255","https://openalex.org/W1970916773","https://openalex.org/W1972859236","https://openalex.org/W1977384542","https://openalex.org/W2008301128","https://openalex.org/W2010504058","https://openalex.org/W2024574288","https://openalex.org/W2025852341","https://openalex.org/W2027293622","https://openalex.org/W2029740087","https://openalex.org/W2038946940","https://openalex.org/W2042343816","https://openalex.org/W2052550038","https://openalex.org/W2053873875","https://openalex.org/W2080780898","https://openalex.org/W2089269333","https://openalex.org/W2090208080","https://openalex.org/W2091692727","https://openalex.org/W2094727050","https://openalex.org/W2104919138","https://openalex.org/W2106484384","https://openalex.org/W2107376953","https://openalex.org/W2107998669","https://openalex.org/W2111540686","https://openalex.org/W2121817297","https://openalex.org/W2123528388","https://openalex.org/W2124178852","https://openalex.org/W2135512772","https://openalex.org/W2141811947","https://openalex.org/W2143862821","https://openalex.org/W2148554055","https://openalex.org/W2156075923","https://openalex.org/W2157916023","https://openalex.org/W2163599171","https://openalex.org/W2164801693","https://openalex.org/W2169534979","https://openalex.org/W2169967930","https://openalex.org/W2493524207","https://openalex.org/W4244323842","https://openalex.org/W4246841922","https://openalex.org/W6652499571","https://openalex.org/W6675522312"],"related_works":["https://openalex.org/W426968574","https://openalex.org/W2365639220","https://openalex.org/W2080567403","https://openalex.org/W2382520895","https://openalex.org/W2393709043","https://openalex.org/W2539387137","https://openalex.org/W2374952201","https://openalex.org/W2903691317","https://openalex.org/W4224323762","https://openalex.org/W2099208041"],"abstract_inverted_index":{"The":[0,22,69,138,189,204,265],"location":[1],"awareness":[2],"is":[3,27,195],"useful":[4],"in":[5,39,81,93,100,131,224,263,288],"many":[6],"wireless":[7],"networking":[8],"solutions,":[9],"such":[10],"as":[11,43,45,121,153,268,270,279],"cellular,":[12],"ad":[13],"hoc,":[14],"self-organizing,":[15],"cognitive":[16],"radio":[17,41],"networks,":[18],"and":[19,52,98,147,151,162,234,254,273],"so":[20],"on.":[21],"RSS-based,":[23],"non-Bayesian":[24],"source":[25,95,108,159],"localization":[26,58,96,105,130,160,215],"of":[28,35,71,87,128,134,144,175,192,200,212,250,258,260,291],"particular":[29],"interest,":[30],"due":[31],"to":[32,77,125],"the":[33,36,46,94,126,132,142,145,148,172,185,196,201,210,213,225,240,251,256,289],"presence":[34,133,290],"RSS":[37],"measurements":[38],"all":[40],"devices,":[42],"well":[44,269],"instantaneous":[47],"estimations":[48],"without":[49],"extensive":[50],"training":[51],"learning":[53],"phases.":[54],"However,":[55],"most":[56],"RSS-based":[57,129,283],"algorithms":[59],"usually":[60,75],"neglect":[61],"problems":[62],"arising":[63],"from":[64],"inherent":[65],"network":[66,135,292],"topology":[67,136,293],"uncertainty.":[68,137,294],"positions":[70,143],"some":[72],"measuring":[73],"anchors,":[74],"assumed":[76],"be":[78,277],"precisely":[79],"known":[80],"advance,":[82],"are":[83,231],"often":[84],"a":[85,122,280],"subject":[86],"previous":[88],"estimation,":[89],"which":[90],"propagates":[91],"errors":[92],"procedure":[97],"results":[99,253,267],"performance":[101,161,177],"degradation.":[102],"A":[103],"joint":[104],"framework,":[106],"termed":[107],"position":[109,113,166,221,242,261],"estimation":[110],"for":[111,282],"anchor":[112,165],"uncertainty":[114],"reduction":[115],"(SPEAR),":[116],"has":[117],"been":[118],"recently":[119],"proposed":[120],"possible":[123],"solution":[124],"problem":[127,216],"framework":[139],"simultaneously":[140],"estimates":[141],"sources":[146],"uncertain":[149],"anchors":[150],"serves":[152],"robust":[154],"tool":[155],"that":[156,286],"provides":[157,206,247],"improved":[158],"more":[163],"reliable":[164],"estimates.":[167],"This":[168,244],"paper":[169,194,245],"focuses":[170],"on":[171],"theoretical":[173,266],"assessment":[174],"SPEAR's":[176],"by":[178],"deriving":[179],"its":[180],"fundamental":[181],"lower":[182],"bounds":[183],"using":[184],"Cram\u00e9r-Rao":[186],"information":[187,222,262],"inequality.":[188],"main":[190],"contribution":[191],"this":[193],"detailed":[197],"information-theoretic":[198,272],"interpretation":[199,205,249],"obtained":[202,252],"results.":[203],"valuable":[207],"insight":[208],"into":[209],"essence":[211],"SPEAR":[214],"because":[217],"it":[218],"identifies":[219],"different":[220],"components":[223],"observed":[226],"data,":[227],"discovers":[228],"how":[229,236],"they":[230,237],"mutually":[232],"related,":[233],"determines":[235],"contribute":[238],"toward":[239],"resulting":[241],"information.":[243],"also":[246],"geometric":[248,274],"illustrates":[255],"principles":[257],"distribution":[259],"space.":[264],"their":[271],"interpretations":[275],"can":[276],"used":[278],"benchmark":[281],"location-aware":[284],"systems":[285],"operate":[287]},"counts_by_year":[{"year":2026,"cited_by_count":4},{"year":2025,"cited_by_count":9},{"year":2024,"cited_by_count":9},{"year":2023,"cited_by_count":7},{"year":2022,"cited_by_count":7},{"year":2021,"cited_by_count":10},{"year":2020,"cited_by_count":8},{"year":2019,"cited_by_count":11},{"year":2018,"cited_by_count":7},{"year":2017,"cited_by_count":11},{"year":2016,"cited_by_count":8},{"year":2015,"cited_by_count":1},{"year":2014,"cited_by_count":1},{"year":2012,"cited_by_count":1}],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-10-10T00:00:00"}