A Performance Limit of TOA-Based Location-Aware Wireless Networks With Ranging Outliers

Malfunctioning anchors in location-aware wireless networks may produce ranging outliers and result in localization failure. In this letter, we propose a performance limit for TOA-based localization with malfunctioning anchors. An approximated Cramer-Rao lower bound (CRLB) in closed form is derived. Building on this, the relationship among localization accuracy, anchor's malfunctioning probability, ranging error of wel-lfunctioning anchors, and the maximum communication range are analyzed. Finally, numerical results verify the proposed CRLB and corroborate our analysis.