TOA estimation improvements in multipath environments by measurement error models

Many positioning systems rely on accurate time of arrival measurements. In this paper, we address not only the accuracy but also the relevance of Time of Arrival (TOA) measurement error modeling. We discuss how better knowledge of these errors can improve relative distance estimation, and compare the impact of differently detailed measurement error information. These models are compared in simulations based on models derived from an Ultra Wideband (UWB) measurement campaign. The conclusion is that significant improvements can be made without providing detailed received signal information but with a generic and relevant measurement error model.