UWB Based Positioning in Multipath Channels: CRBs for AOA and for Hybrid TOA-AOA Based Methods

In this paper we consider UWB (ultra wide band) based positioning. We derive the CRBs (Cramer Rao bound) for AOA (angle of arrival) and for hybrid method using both AOA and TOA (time of arrival) information. Both non modulated and modulated IR-UWB (impulse-radio) waveforms are considered. The UWB channel is supposed to be of the multipath type. The AOA technique is investigated without NB (narrow band) approximation usually made. The analytical results obtained for the CRBs are illustrated by numerical results for typical scenarios.