Range-Direction Tracking and Bayesian Cramer–Rao Bound Analysis in mmwave Systems Equipped With Imperfect Transceivers

The range and direction tracking process and its associated Bayesian Cramer-Rao bound (BCRB) are investigated here in the context of imperfect transceivers. Specifically, a Kalman filter based tracker (KFT) accomplishes the tracking, paying attention in its design to the range and direction dynamics, as well as to the hardware impairments (HWIs) distorting the measurements. The Monte Carlo (MC) technique is proposed to improve the tracking accuracy, as it provides a better representation of the measurement errors used in tracker design. Next, BCRB is derived as a benchmark to assess tracking accuracy. Lastly, computer simulation results demonstrate the tracker’s performance in overcoming the HWIs’ accuracy limitations.