Accuracy of source localization using multipath delays

The depth and range of underwater source can be estimated from measurements of propagation delay differences along multiple propagation paths. The accuracy of depth and range estimation using the Cramer-Rao lower bound is studied. The formulas derived can be used in conjunction with a propagation medium (nonconstant velocity profile). Explicit formulas for the bounds are derived for the case of homogeneous medium (constant velocity profile). Numerical examples are presented to illustrate the behavior of these bounds