The localization problem is fundamentally important for sensor networks. This paper. based on "Estimation bounds for localization" by the authors (2004 © IEEE). studies the Cramér-Rao lower bound (CRB) for two kinds of localization based on noisy range measurements. https://safeersappliancers.shop/product-category/aeg-ccb6761acb-60-cm-electric-ceramic-cooker-black/