Cramer-Rao Lower Bounds for UWB Localization with Antenna Array

Impulse radio localization is an ideal technology for indoor localization. In this paper, we derive the Cram´er-Rao lower bounds (CRLBs) of impulse radio localization with antenna array reception. Previous works on CRLBs of localization with antenna array reception require an important assumption that the multipath components which arrive at the different antenna array elements are independent. However, this assumption may not be valid when the antenna array elements get close to one another. Without this assumption, we derive the CRLBs of impulse radio antenna array localization. Simulation results show that the derived CRLBs give a good indication of the actual standard deviations of the time of arrival and angle of arrival estimation.