{"id":"https://openalex.org/W2135812407","doi":"https://doi.org/10.1109/twc.2014.2314096","title":"Modified CRLB for Cooperative Geolocation of Two Devices Using Signals of Opportunity","display_name":"Modified CRLB for Cooperative Geolocation of Two Devices Using Signals of Opportunity","publication_year":2014,"publication_date":"2014-03-27","ids":{"openalex":"https://openalex.org/W2135812407","doi":"https://doi.org/10.1109/twc.2014.2314096","mag":"2135812407"},"language":"en","primary_location":{"id":"doi:10.1109/twc.2014.2314096","is_oa":false,"landing_page_url":"https://doi.org/10.1109/twc.2014.2314096","pdf_url":null,"source":{"id":"https://openalex.org/S63459445","display_name":"IEEE Transactions on Wireless Communications","issn_l":"1536-1276","issn":["1536-1276","1558-2248"],"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 Wireless Communications","raw_type":"journal-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://dr.ntu.edu.sg/bitstream/10356/104204/1/LenTaySee%20-%20Modified%20CRLB%20for%20cooperative%20geolocation%20of%20two%20devices%20using%20signals%20of%20opportunity.pdf","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5033192742","display_name":"Mei Leng","orcid":"https://orcid.org/0000-0002-2758-7599"},"institutions":[{"id":"https://openalex.org/I172675005","display_name":"Nanyang Technological University","ror":"https://ror.org/02e7b5302","country_code":"SG","type":"education","lineage":["https://openalex.org/I172675005"]}],"countries":["SG"],"is_corresponding":true,"raw_author_name":"Mei Leng","raw_affiliation_strings":["Nanyang Technological University, Singapore","Nanyang Technological University (Singapore)"],"affiliations":[{"raw_affiliation_string":"Nanyang Technological University, Singapore","institution_ids":["https://openalex.org/I172675005"]},{"raw_affiliation_string":"Nanyang Technological University (Singapore)","institution_ids":["https://openalex.org/I172675005"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5046850399","display_name":"Wee Peng Tay","orcid":"https://orcid.org/0000-0002-1543-195X"},"institutions":[{"id":"https://openalex.org/I172675005","display_name":"Nanyang Technological University","ror":"https://ror.org/02e7b5302","country_code":"SG","type":"education","lineage":["https://openalex.org/I172675005"]}],"countries":["SG"],"is_corresponding":false,"raw_author_name":"Wee Peng Tay","raw_affiliation_strings":["Nanyang Technological University, Singapore","Nanyang Technological University (Singapore)"],"affiliations":[{"raw_affiliation_string":"Nanyang Technological University, Singapore","institution_ids":["https://openalex.org/I172675005"]},{"raw_affiliation_string":"Nanyang Technological University (Singapore)","institution_ids":["https://openalex.org/I172675005"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5111982645","display_name":"Chong Meng Samson See","orcid":null},"institutions":[{"id":"https://openalex.org/I172675005","display_name":"Nanyang Technological University","ror":"https://ror.org/02e7b5302","country_code":"SG","type":"education","lineage":["https://openalex.org/I172675005"]}],"countries":["SG"],"is_corresponding":false,"raw_author_name":"Chong Meng Samson See","raw_affiliation_strings":["Temasek Laboratories, Nanyang Technological University, Singapore","Temasek Labs Nanyang Technological University,Singapore"],"affiliations":[{"raw_affiliation_string":"Temasek Laboratories, Nanyang Technological University, Singapore","institution_ids":["https://openalex.org/I172675005"]},{"raw_affiliation_string":"Temasek Labs Nanyang Technological University,Singapore","institution_ids":["https://openalex.org/I172675005"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5058356436","display_name":"Sirajudeen Gulam Razul","orcid":"https://orcid.org/0000-0002-9031-6855"},"institutions":[{"id":"https://openalex.org/I172675005","display_name":"Nanyang Technological University","ror":"https://ror.org/02e7b5302","country_code":"SG","type":"education","lineage":["https://openalex.org/I172675005"]}],"countries":["SG"],"is_corresponding":false,"raw_author_name":"Sirajudeen Gulam Razul","raw_affiliation_strings":["Temasek Laboratories, Nanyang Technological University, Singapore","Temasek Labs Nanyang Technological University,Singapore"],"affiliations":[{"raw_affiliation_string":"Temasek Laboratories, Nanyang Technological University, Singapore","institution_ids":["https://openalex.org/I172675005"]},{"raw_affiliation_string":"Temasek Labs Nanyang Technological University,Singapore","institution_ids":["https://openalex.org/I172675005"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5067048409","display_name":"Moe Z. Win","orcid":"https://orcid.org/0000-0002-8573-0488"},"institutions":[{"id":"https://openalex.org/I63966007","display_name":"Massachusetts Institute of Technology","ror":"https://ror.org/042nb2s44","country_code":"US","type":"education","lineage":["https://openalex.org/I63966007"]},{"id":"https://openalex.org/I4210143601","display_name":"Decision Systems (United States)","ror":"https://ror.org/0434dpa13","country_code":"US","type":"company","lineage":["https://openalex.org/I4210143601"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Moe Z. Win","raw_affiliation_strings":["Laboratory for Information and Decision Systems, Massachusetts Institute of Technology, Cambridge, MA, USA","Laboratory for Information & Decision Syst., Massachusetts Inst. of Technol., Cambridge, MA, USA"],"affiliations":[{"raw_affiliation_string":"Laboratory for Information and Decision Systems, Massachusetts Institute of Technology, Cambridge, MA, USA","institution_ids":["https://openalex.org/I4210143601","https://openalex.org/I63966007"]},{"raw_affiliation_string":"Laboratory for Information & Decision Syst., Massachusetts Inst. of Technol., Cambridge, MA, USA","institution_ids":["https://openalex.org/I63966007"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":5,"corresponding_author_ids":["https://openalex.org/A5033192742"],"corresponding_institution_ids":["https://openalex.org/I172675005"],"apc_list":null,"apc_paid":null,"fwci":3.6157,"has_fulltext":false,"cited_by_count":33,"citation_normalized_percentile":{"value":0.9374418,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":89,"max":99},"biblio":{"volume":"13","issue":"7","first_page":"3636","last_page":"3649"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10326","display_name":"Indoor and Outdoor Localization Technologies","score":0.9998999834060669,"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":0.9998999834060669,"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":0.998199999332428,"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/T10711","display_name":"Target Tracking and Data Fusion in Sensor Networks","score":0.984499990940094,"subfield":{"id":"https://openalex.org/subfields/1702","display_name":"Artificial Intelligence"},"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/cram\u00e9r\u2013rao-bound","display_name":"Cram\u00e9r\u2013Rao bound","score":0.9534713625907898},{"id":"https://openalex.org/keywords/beacon","display_name":"Beacon","score":0.6623342037200928},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.6074578166007996},{"id":"https://openalex.org/keywords/upper-and-lower-bounds","display_name":"Upper and lower bounds","score":0.6034056544303894},{"id":"https://openalex.org/keywords/geolocation","display_name":"Geolocation","score":0.5574308037757874},{"id":"https://openalex.org/keywords/asynchronous-communication","display_name":"Asynchronous communication","score":0.5296623110771179},{"id":"https://openalex.org/keywords/multilateration","display_name":"Multilateration","score":0.518518328666687},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5090422034263611},{"id":"https://openalex.org/keywords/clock-drift","display_name":"Clock drift","score":0.4895339906215668},{"id":"https://openalex.org/keywords/fisher-information","display_name":"Fisher information","score":0.45824548602104187},{"id":"https://openalex.org/keywords/clock-synchronization","display_name":"Clock synchronization","score":0.41755419969558716},{"id":"https://openalex.org/keywords/jitter","display_name":"Jitter","score":0.39879897236824036},{"id":"https://openalex.org/keywords/estimation-theory","display_name":"Estimation theory","score":0.35784053802490234},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.32380449771881104},{"id":"https://openalex.org/keywords/real-time-computing","display_name":"Real-time computing","score":0.29444992542266846},{"id":"https://openalex.org/keywords/synchronization","display_name":"Synchronization (alternating current)","score":0.27310556173324585},{"id":"https://openalex.org/keywords/clock-skew","display_name":"Clock skew","score":0.2267361283302307},{"id":"https://openalex.org/keywords/statistics","display_name":"Statistics","score":0.22168123722076416},{"id":"https://openalex.org/keywords/telecommunications","display_name":"Telecommunications","score":0.18195176124572754},{"id":"https://openalex.org/keywords/clock-signal","display_name":"Clock signal","score":0.16225126385688782}],"concepts":[{"id":"https://openalex.org/C4978587","wikidata":"https://www.wikidata.org/wiki/Q1138810","display_name":"Cram\u00e9r\u2013Rao bound","level":3,"score":0.9534713625907898},{"id":"https://openalex.org/C102168758","wikidata":"https://www.wikidata.org/wiki/Q7321258","display_name":"Beacon","level":2,"score":0.6623342037200928},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.6074578166007996},{"id":"https://openalex.org/C77553402","wikidata":"https://www.wikidata.org/wiki/Q13222579","display_name":"Upper and lower bounds","level":2,"score":0.6034056544303894},{"id":"https://openalex.org/C22041718","wikidata":"https://www.wikidata.org/wiki/Q638949","display_name":"Geolocation","level":2,"score":0.5574308037757874},{"id":"https://openalex.org/C151319957","wikidata":"https://www.wikidata.org/wiki/Q752739","display_name":"Asynchronous communication","level":2,"score":0.5296623110771179},{"id":"https://openalex.org/C104037064","wikidata":"https://www.wikidata.org/wiki/Q1640884","display_name":"Multilateration","level":3,"score":0.518518328666687},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5090422034263611},{"id":"https://openalex.org/C155837451","wikidata":"https://www.wikidata.org/wiki/Q1069144","display_name":"Clock drift","level":5,"score":0.4895339906215668},{"id":"https://openalex.org/C29406490","wikidata":"https://www.wikidata.org/wiki/Q1420659","display_name":"Fisher information","level":2,"score":0.45824548602104187},{"id":"https://openalex.org/C129891060","wikidata":"https://www.wikidata.org/wiki/Q1513059","display_name":"Clock synchronization","level":4,"score":0.41755419969558716},{"id":"https://openalex.org/C134652429","wikidata":"https://www.wikidata.org/wiki/Q1052698","display_name":"Jitter","level":2,"score":0.39879897236824036},{"id":"https://openalex.org/C167928553","wikidata":"https://www.wikidata.org/wiki/Q1376021","display_name":"Estimation theory","level":2,"score":0.35784053802490234},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.32380449771881104},{"id":"https://openalex.org/C79403827","wikidata":"https://www.wikidata.org/wiki/Q3988","display_name":"Real-time computing","level":1,"score":0.29444992542266846},{"id":"https://openalex.org/C2778562939","wikidata":"https://www.wikidata.org/wiki/Q1298791","display_name":"Synchronization (alternating current)","level":3,"score":0.27310556173324585},{"id":"https://openalex.org/C60501442","wikidata":"https://www.wikidata.org/wiki/Q4382014","display_name":"Clock skew","level":4,"score":0.2267361283302307},{"id":"https://openalex.org/C105795698","wikidata":"https://www.wikidata.org/wiki/Q12483","display_name":"Statistics","level":1,"score":0.22168123722076416},{"id":"https://openalex.org/C76155785","wikidata":"https://www.wikidata.org/wiki/Q418","display_name":"Telecommunications","level":1,"score":0.18195176124572754},{"id":"https://openalex.org/C137059387","wikidata":"https://www.wikidata.org/wiki/Q426882","display_name":"Clock signal","level":3,"score":0.16225126385688782},{"id":"https://openalex.org/C127162648","wikidata":"https://www.wikidata.org/wiki/Q16858953","display_name":"Channel (broadcasting)","level":2,"score":0.0},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.0},{"id":"https://openalex.org/C136764020","wikidata":"https://www.wikidata.org/wiki/Q466","display_name":"World Wide Web","level":1,"score":0.0},{"id":"https://openalex.org/C159737794","wikidata":"https://www.wikidata.org/wiki/Q124274","display_name":"Azimuth","level":2,"score":0.0},{"id":"https://openalex.org/C134306372","wikidata":"https://www.wikidata.org/wiki/Q7754","display_name":"Mathematical analysis","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/twc.2014.2314096","is_oa":false,"landing_page_url":"https://doi.org/10.1109/twc.2014.2314096","pdf_url":null,"source":{"id":"https://openalex.org/S63459445","display_name":"IEEE Transactions on Wireless Communications","issn_l":"1536-1276","issn":["1536-1276","1558-2248"],"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 Wireless Communications","raw_type":"journal-article"},{"id":"pmh:oai:dr.ntu.edu.sg:10356/104204","is_oa":true,"landing_page_url":"http://hdl.handle.net/10220/47839","pdf_url":"https://dr.ntu.edu.sg/bitstream/10356/104204/1/LenTaySee%20-%20Modified%20CRLB%20for%20cooperative%20geolocation%20of%20two%20devices%20using%20signals%20of%20opportunity.pdf","source":{"id":"https://openalex.org/S4306402609","display_name":"DR-NTU (Nanyang Technological University)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I172675005","host_organization_name":"Nanyang Technological University","host_organization_lineage":["https://openalex.org/I172675005"],"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":"Journal Article"}],"best_oa_location":{"id":"pmh:oai:dr.ntu.edu.sg:10356/104204","is_oa":true,"landing_page_url":"http://hdl.handle.net/10220/47839","pdf_url":"https://dr.ntu.edu.sg/bitstream/10356/104204/1/LenTaySee%20-%20Modified%20CRLB%20for%20cooperative%20geolocation%20of%20two%20devices%20using%20signals%20of%20opportunity.pdf","source":{"id":"https://openalex.org/S4306402609","display_name":"DR-NTU (Nanyang Technological University)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I172675005","host_organization_name":"Nanyang Technological University","host_organization_lineage":["https://openalex.org/I172675005"],"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":"Journal Article"},"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":true,"grobid_xml":false},"content_urls":{"pdf":"https://content.openalex.org/works/W2135812407.pdf"},"referenced_works_count":55,"referenced_works":["https://openalex.org/W250076511","https://openalex.org/W585572459","https://openalex.org/W599939251","https://openalex.org/W1525146035","https://openalex.org/W1965392255","https://openalex.org/W1974219639","https://openalex.org/W1978311346","https://openalex.org/W1988543519","https://openalex.org/W2003416940","https://openalex.org/W2018093989","https://openalex.org/W2023004272","https://openalex.org/W2038946940","https://openalex.org/W2041740728","https://openalex.org/W2079857430","https://openalex.org/W2081852099","https://openalex.org/W2088953836","https://openalex.org/W2100841352","https://openalex.org/W2102977580","https://openalex.org/W2107189492","https://openalex.org/W2108501383","https://openalex.org/W2112563968","https://openalex.org/W2112901334","https://openalex.org/W2113830619","https://openalex.org/W2116107576","https://openalex.org/W2118537895","https://openalex.org/W2124216931","https://openalex.org/W2125777976","https://openalex.org/W2127263006","https://openalex.org/W2128287710","https://openalex.org/W2128820455","https://openalex.org/W2133667515","https://openalex.org/W2134060757","https://openalex.org/W2138246115","https://openalex.org/W2138877368","https://openalex.org/W2139429145","https://openalex.org/W2144084055","https://openalex.org/W2144142570","https://openalex.org/W2145477955","https://openalex.org/W2146414958","https://openalex.org/W2154347068","https://openalex.org/W2156476853","https://openalex.org/W2156668452","https://openalex.org/W2157409204","https://openalex.org/W2157738322","https://openalex.org/W2161101713","https://openalex.org/W2169730407","https://openalex.org/W2170128721","https://openalex.org/W2488153981","https://openalex.org/W2565753657","https://openalex.org/W2740211735","https://openalex.org/W4246841922","https://openalex.org/W6644575957","https://openalex.org/W6670685165","https://openalex.org/W6685443106","https://openalex.org/W6742486911"],"related_works":["https://openalex.org/W2790822259","https://openalex.org/W4297911919","https://openalex.org/W2125440076","https://openalex.org/W2144712746","https://openalex.org/W3083853593","https://openalex.org/W1977555422","https://openalex.org/W2160540679","https://openalex.org/W2098880663","https://openalex.org/W3041897979","https://openalex.org/W1974603457"],"abstract_inverted_index":{"We":[0,32,79],"consider":[1],"the":[2,40,47,52,58,73,93,100,116],"problem":[3],"of":[4,10,65,95],"localizing":[5],"two":[6],"devices":[7,19],"using":[8],"signals":[9],"opportunity":[11],"from":[12],"beacons":[13],"with":[14,26],"known":[15],"positions.":[16],"Beacons":[17],"and":[18,30,38,68,88,103,114],"have":[20,121],"asynchronous":[21],"local":[22],"clocks":[23],"or":[24],"oscillators":[25],"unknown":[27],"clock":[28,34,44,77,96,119],"skews":[29,35,120],"offsets.":[31],"model":[33],"as":[36],"random,":[37],"analyze":[39],"biases":[41],"introduced":[42],"by":[43,76],"asynchronism":[45,97],"in":[46],"received":[48],"signals.":[49],"By":[50],"deriving":[51],"equivalent":[53],"Fisher":[54],"information":[55],"matrix":[56],"for":[57],"modified":[59],"Bayesian":[60],"Cram\u00e9r-Rao":[61],"lower":[62],"bound":[63],"(CRLB)":[64],"device":[66,101],"position":[67],"velocity":[69],"estimation,":[70],"we":[71],"quantify":[72],"errors":[74],"caused":[75],"asynchronism.":[78],"propose":[80],"an":[81],"algorithm":[82,111],"based":[83],"on":[84],"differential":[85],"time-difference-of-arrival":[86],"(DTDOA)":[87],"frequency-difference-of-arrival":[89],"(FDOA)":[90],"that":[91,108],"mitigates":[92],"effects":[94],"to":[98],"estimate":[99],"positions":[102],"velocities.":[104],"Simulation":[105],"results":[106],"suggest":[107],"our":[109],"proposed":[110],"is":[112],"robust":[113],"approaches":[115],"CRLB":[117],"when":[118],"small":[122],"standard":[123],"deviations.":[124]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":2},{"year":2024,"cited_by_count":2},{"year":2023,"cited_by_count":4},{"year":2022,"cited_by_count":2},{"year":2020,"cited_by_count":1},{"year":2019,"cited_by_count":2},{"year":2018,"cited_by_count":2},{"year":2017,"cited_by_count":6},{"year":2016,"cited_by_count":7},{"year":2015,"cited_by_count":4}],"updated_date":"2026-03-14T08:43:22.919905","created_date":"2025-10-10T00:00:00"}