Performance bounds for estimating vector systems

We propose a unified framework for the analysis of estimators of geometrical vector quantities and vector systems through a collection of performance measures. Unlike standard performance indicators, these measures have intuitive geometrical and physical interpretations, are independent of the coordinate reference frame, and are applicable to arbitrary parameterizations of the unknown vector or system of vectors. For each measure, we derive both finite-sample and asymptotic lower bounds that hold for large classes of estimators and serve as benchmarks for the assessment of estimation algorithms. Like the performance measures themselves, these bounds are independent of the reference coordinate frame, and we discuss their use as system design criteria