Improved Lower Bounds on Time-of-Arrival Estimation Error in Realistic UWB Channels

@article{Dardari2006ImprovedLB,
  title={Improved Lower Bounds on Time-of-Arrival Estimation Error in Realistic UWB Channels},
  author={Davide Dardari and C.-C. Chong and M. Z. Win},
  journal={2006 IEEE International Conference on Ultra-Wideband},
  year={2006},
  pages={531-537}
}
This paper investigates lower bounds on time-of-arrival (ToA) estimation error for ultrawide bandwidth ranging systems operating in realistic multipath environments. Based on the Ziv-Zakai lower bound, we derive a lower bound for the ToA estimation error using both the IEEE 802.15.4a channel models and experimentally measured data. It is shown that for practical signal-to-noise values the classical Cramer-Rao lower bound is too optimistic when operating in dense multipath environments 
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