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The Received Signal Strength based source localization can encounter severeproblems originating from uncertain information about the anchor positions inpractice. The anchor positions, although commonly assumed to be precisely knownprior to the source localization, are usually obtained using previousestimation algorithm such as GPS. This previous estimation procedure producesanchor positions with limited accuracy that result in degradations of thesource localization algorithm and topology uncertainty. We have recentlyaddressed the problem with a joint estimation framework that jointly estimatesthe unknown source and uncertain anchors positions and derived the theoreticallimits of the framework. This paper extends the authors previous work on thetheoretical performance bounds of the joint localization framework withappropriate geometric interpretation of the overall problem exploiting theproperties of semi-definiteness and symmetry of the Fisher Information Matrixand the Cram{\`e}r-Rao Lower Bound and using Information and Error Ellipses,respectively. The numerical results aim to illustrate and discuss theusefulness of the geometric interpretation. They provide in-depth insight intothe geometrical properties of the joint localization problem underlining thevarious possibilities for practical design of efficient localizationalgorithms.

Geometric Interpretation of Theoretical Bounds for RSS-based Source Localization with Uncertain Anchor Positions