| Summary: | To avoid decline of FDOA estimation precision caused by relative Doppler companding, Doppler rate has to be considered and estimated jointly with TDOA, phase, and FDOA. However, CRLB of the joint estimation is still unclear. This study addresses on derivation of the CRLB. First, the joint estimation model is constructed. Then, the signal-specific CRLB for any type of signal and a simplified CRLB for stationary and constant-envelope signal are derived, respectively. Finally, as a verification, the derived bound is compared with previous bounds for the special cases of TDOA, phase, and FDOA estimation, which shows that authors’ bound is reasonable. In addition to the conventional scenarios of TDOA, phase and FDOA estimation, their bound can also indicate the error characteristic of Doppler rate, which can be used to evaluate estimation performance and forecast location accuracy using Doppler rate.
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