On estimating an upper bound to MSE of position error in time-of-arrival position location systems

This paper defines a closed-form expression for an upper bound to MSE of position error in terms of statistics of an observable parameter: the residual. The upper bound estimation is verified through simulations including different geometries of receivers and different magnitudes of errors. The number of receivers needed to measure accuracy is discussed for the proposed bounds. Furthermore, this paper introduces a novel measure of accuracy of a positioning system using a single receiver, given the smallest number of receivers used to locate a transmitter.