Cramér-Rao analysis of orientation estimation: influence of target model uncertainties

We explore the use of Cramér-Rao bound calculations for predicting fundamental limits on the accuracy with which target characteristics can be determined by using imaging sensors. In particular, estimation of satellite orientation from high-resolution sensors is examined. The analysis role that such bounds provide for sensor/experiment design, operation, and upgrade is discussed. Emphasis is placed on the importance of including all relevant target/sensor uncertainties in the analysis. Computer simulations are performed that illustrate that uncertainties in target features (e.g., shape, reflectance, and relative orientation) have a significant impact on the bounds and provide considerable insight as to how details of the three-dimensional target structure may influence the estimation process. The simulations also address the impact that a priori information has on the bounds.