sensing and provide Cramer-Rao bounds (CRB's) [37] on the variance of unbiased .... equivalent of a cross product with the vector u. Then, the ... relative to the sensor reference frame (Fig. 1). It follows that ..... EZ (P1P4 â pе + pÄ) +of E.(P1 + pa) +01 pz(PAES+of). â¬? (P1P2 + .... 82 = det (P& + oil), i = V(91 - 94)2 + 4qá» + 4q,.
