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We consider the problem of localizing two sensors using signals ofopportunity from beacons with known positions. Beacons and sensors haveasynchronous local clocks or oscillators with unknown clock skews and offsets.We model clock skews as random, and analyze the biases introduced by clockasynchronism in the received signals. By deriving the equivalent Fisherinformation matrix for the modified Bayesian Cram\'er-Rao lower bound (CRLB) ofsensor position and velocity estimation, we quantify the errors caused by clockasynchronism.

Modified CRB for Location and Velocity Estimation using Signals of Opportunity