Modified CRB for Location and Velocity Estimation using Signals of Opportunity

We consider the problem of localizing two sensors using signals of opportunity from beacons with known positions. Beacons and sensors have asynchronous local clocks or oscillators with unknown clock skews and offsets. We model clock skews as random, and analyze the biases introduced by clock asynchronism in the received signals. By deriving the equivalent Fisher information matrix for the modified Bayesian Cramer-Rao lower bound (CRLB) of sensor position and velocity estimation, we quantify the errors caused by clock asynchronism.