Table 1 CRLB versus localization errors

CRLB

$\mathbf{3}\sqrt{\mathbf{\text{CRLB}}}$

$|{\mathit{R}}_{\mathit{k}}-{\widehat{\mathit{R}}}_{\mathit{k}}|$

$\frac{|{\mathit{R}}_{\mathit{k}}-{\widehat{\mathit{R}}}_{\mathit{k}}{|}^{\mathbf{2}}}{\mathit{CRL}{\mathit{B}}_{\mathit{k}}}$