y), where d (the horizontal range} is known, based on the “slant range" measurement ..r+w where r=h(y)=\sqrt{d^{2}+y^{2}} \text { and } w \sim \mathcal{N}\left(0, \sigma^{2}\right) 1. Write the likelihood function of y. 2. Find the CRLB for estimating y. 3. Evaluate the standard deviation of the estimate according to the CRLB for d = 10°,a = 10?, and assumed true value y = 10. How useful would such an estimate be? 4. Find the expression of the MLE of y in terms of z and d.

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