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

<table>Range error
versus <svg height="10.75" id="M71" style="vertical-align:-0.15048pt" version="1.1" viewbox="0 0 9.375 10.75" width="9.375" xmlns="http://www.w3.org/2000/svg">
<g transform="matrix(1.25,0,0,-1.25,0,10.75)">
<g transform="translate(72,-63.4)">
<text transform="matrix(1,0,0,-1,-71.95,63.6)">
<tspan style="font-size: 12.50px; " x="0" y="0">𝑑</tspan>
</text>
</g>
</g>
</svg> for (a) LOS and for (b) NLOS, for <svg height="11.1" id="M72" style="vertical-align:-0.17555pt" version="1.1" viewbox="0 0 49.924999 11.1" width="49.924999" xmlns="http://www.w3.org/2000/svg">
<g transform="matrix(1.25,0,0,-1.25,0,11.1)">
<g transform="translate(72,-63.12)">
<text transform="matrix(1,0,0,-1,-71.95,63.35)">
<tspan style="font-size: 12.50px; " x="0" y="0">𝐵</tspan>
<tspan style="font-size: 12.50px; " x="12.165419" y="0">=</tspan>
<tspan style="font-size: 12.50px; " x="24.205809" y="0">7</tspan>
<tspan style="font-size: 12.50px; " x="30.457308" y="0">.</tspan>
<tspan style="font-size: 12.50px; " x="33.583057" y="0">5</tspan>
</text>
</g>
</g>
</svg> GHz and <svg height="11.1" id="M73" style="vertical-align:-0.17555pt" version="1.1" viewbox="0 0 49.924999 11.1" width="49.924999" xmlns="http://www.w3.org/2000/svg">
<g transform="matrix(1.25,0,0,-1.25,0,11.1)">
<g transform="translate(72,-63.12)">
<text transform="matrix(1,0,0,-1,-71.95,63.35)">
<tspan style="font-size: 12.50px; " x="0" y="0">𝐵</tspan>
<tspan style="font-size: 12.50px; " x="12.165419" y="0">=</tspan>
<tspan style="font-size: 12.50px; " x="24.205809" y="0">0</tspan>
<tspan style="font-size: 12.50px; " x="30.457308" y="0">.</tspan>
<tspan style="font-size: 12.50px; " x="33.583057" y="0">5</tspan>
</text>
</g>
</g>
</svg> GHz.</table>

Journal of Electrical and Computer Engineering

fig1

Figure 1

Figure 1: Modeling Distance and Bandwidth Dependency of TOA-Based UWB Ranging Error for Positioning 