Abstract—This paper considers the application for tracking of one mobile emitter using a sequence of frequency difference of arrival (FDOA) measurements obtained by single pair of receivers at a time. We suppose there is only one unmanned aerial vehicle (UAV) as emitter without data link relation problems, such as disconnection of data link or false measurements. Each FDOA measurement defines a region of possible emitter locations around a unique hyperbola. These analysis leads to the Cramér-Rao lower bound (CRLB) for estimation of movements. Through the analysis we propose the manner for tracking through the error-ellipsoids acquired from each CRLB. Since the performance measure is the length of error ellipsoid axes, we compare the effects of various environments.

Index Terms—Frequency difference of arrival (FDOA), Cramér-Rao lower bound (CRLB), unmanned aerial vehicle(UAV), tracking, ground station (GS).

B. Y. Min, C. An, and D. K. Kim are with the school of Electrical Electronic Engineering, Yonsei university, Seoul, Korea (e-mail:minby33@yonsei.ac.kr, chanhoa@yonsei.ac.kr, dkkim@yonsei.ac.kr)
S. J. Hong is with the Samsung Thales Co., Ltd, Seongnam-City,Gyeonggi-Do, Korea (e-mail: sj123.hong@samsung.com )
J. S. Jang and U. Y. Pak are with the Agency for Defense Development,Dajeon, Korea (e-mail: jangjs@add.re.kr, puy@add.re.kr ).

Cite: Byoung-Yoon Min, Chan-ho An, Dong-Ku Kim, Seok Jun Hong, Jin Sang Jang, and Ui Young Pak, "Cramér-Rao Lower Bound Analysis for Many-to-One UAV Tracking Using FDOA Measurements," International Journal of Computer and Electrical Engineering vol. 4, no. 5, pp. 706-709 , 2012.