本文的CRLB推导结果来源于文章CooperativeTrajectoryPlanningandResourceAllocationforUAV-EnabledIntegratedSensingandCommunicationSystems，引用格式：{YuPan,RuoguangLi*,XinyuDa,HangHu,MiaoZhang,DongZhai,KanapathippillaiCuman,andOctaviaA.