Table 1: Comparison of the ranging techniques in terms of RMSE between the real and estimated position for each measurement .

AlgorithmWithout clutter map removal With clutter map removal

Pulse signature matching 75.4 (mm) 48.1 (mm)
Pulse-spectrum signature matching 7.2 (mm) 2.6 (mm)
Pulse-spectrum signature matching + subsample delay estimation 5.0 (mm) 1.4  (mm)