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Research Letters in Communications
Volume 2009 (2009), Article ID 468597, 4 pages
Research Letter

Modeling Distance and Bandwidth Dependency of TOA-Based UWB Ranging Error for Positioning

1Wireless and Mobile Communications Group (WMC), Delft University of Technology, 2628 CD Delft, The Netherlands
2Mathematical Geodesy and Positioning Group (MGP), Delft University of Technology, 2629 HS Delft, The Netherlands

Received 18 November 2008; Accepted 19 January 2009

Academic Editor: Luca De Nardis

Copyright © 2009 Giovanni Bellusci et al. This is an open access article distributed under the Creative Commons Attribution License, which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited.


A statistical model for the range error provided by TOA estimation using UWB signals is given, based on UWB channel measurements between 3.1 and 10.6 GHz. The range error has been modeled as a Gaussian random variable for LOS and as a combination of a Gaussian and an exponential random variable for NLOS. The distance and bandwidth dependency of both the mean and the standard deviation of the range error has been analyzed, and insight is given in the different phenomena which affect the estimation accuracy. A possible application of the model to weighted least squares positioning is finally investigated. Noticeable improvements compared to the traditional least squares method have been obtained.