LAUSR

In this letter, we investigate the performance degradation of the RSS-based simultaneous position and orientation (SPO) estimation algorithm for multiple LEDs—multiple photodiodes (PDs) (MLMP) systems due to the non-line-of-sight (NLOS) channel and power uncertainty. Since most state-of-the-art SPO estimators assume that the channel is NLOS-free and that the system is finely calibrated so that the transmit power is accurately known, they will achieve a degraded performance in the presence of the NLOS channel and power uncertainty. In order to assess the performance of state-of-the-art SPO estimators subject to the NLOS channel and power uncertainty, the theoretical lower bound on the mean squared error (MSE), i.e., the misspecified Cramér-Rao bound (MCRB), is derived. Computer simulations show that the derived theoretical lower bound correctly indicates the performance of the estimator.