Position Estimation Using UWB TDOA Measurements

UWB signal has high ranging precision due to its large bandwidth. In this paper, TDOA ranges measured by UWB signals are used in the position estimation process. The ranges are modeled for both LOS and NLOS environment. A TDOA error-minimizing localization method has been proposed to estimate the locations of blind nodes and its performance is investigated in both LOS and NLOS propagations. Cramer-Rao lower bound (CRLB) on the variance of the blind node positions is also derived for LOS situation. Furthermore, we demonstrate that TDOA error-minimizing method is more robust to range errors than Chan´s method