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In short range communications, the use of RSS measurements in conjunction with TOA or TDOA leads to enhanced estimation accuracy with respect to the case where only TOA or TDOA are used. In this article, we derive the Cramer-Rao Bound (CRB) for location estimation accuracy of two different hybrid schemes: TOA/RSS and TDOA/RSS. For short ranges, the hybrid schemes offer improved accuracy, particularly in the proximity of the reference devices.This work may not be copied or reproduced in whole or in part for any commercial purpose. Permission to copy in whole or in part without payment of fee is granted for nonprofit educational and research purposes provided that all such whole or partial copies include the following: a notice that such copying is by permission of Mitsubishi Electric Research Laboratories, Inc.; an acknowledgment of the authors and individual contributions to the work; and all applicable portions of the copyright notice. Copying, reproduction, or republishing for any other purpose shall require a license with payment of fee to Mitsubishi Electric Research Laboratories, Inc. All rights reserved. TR2003-143Abstract-In short range communications, the use of RSS measurements in conjunction with TOA or TDOA leads to enhanced estimation accuracy with respect to the case where only TOA or TDOA are used. In this article, we derive the Cramer-Rao Bound (CRB) for location estimation accuracy of two different hybrid schemes: TOA/RSS and TDOA/RSS. For short ranges, the hybrid schemes offer improved accuracy, particularly in the proximity of the reference devices.Index Terms-TDOA, RSS, TOA, location, sensor networksAbstract-In short range communications, the use of RSS measurements in conjunction with TOA or TDOA leads to enhanced estimation accuracy with respect to the case where only TOA or TDOA are used. In this article, we derive the Cramer-Rao Bound (CRB) for location estimation accuracy of two different hybrid schemes: TOA/RSS and TDOA/RSS. For short ranges, the hybrid schemes offer improved accuracy, particularly in the proximity of the reference devices.

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Position estimation of wireless devices has many applications in short-range networks. Ultra-wideband (UWB) signals provide accurate positioning capabilities that can be harnessed in wireless systems to realise these applications. This text provides detailed coverage of UWB positioning systems, offering comprehensive treatment of signal and receiver design for ranging, range estimation techniques, theoretical performance bounds, ranging algorithms and protocols. Beginning with a discussion of the potential applications of wireless positioning, and investigating UWB signals for such applications, later chapters establish a signal processing framework for analysing UWB positioning and ranging systems. The recent IEEE 802.15.4a standard related to UWB is also studied in detail. Each chapter contains examples, problems and Matlab scripts to help readers grasp key concepts.

The emerging IEEE 802.15.4a standard is the first international standard that specifies a wireless physical layer to enable precision ranging. In this article, ranging signal waveforms and ranging protocols adopted into the standard are discussed in a tutorial manner.Index Terms-Radio range measurements, ultra-wideband (UWB), IEEE 802.15.4a standard.in the standard including mandatory and optional protocols, and the enhancements for ranging privacy.The remainder of the paper is organized as follows. In section II, basics of ranging and related terminology are introduced. Then, the IEEE 802.15.4a packet structure is investigated from a ranging point of view in section III. Finally, ranging protocols are studied in section IV, which is followed by the concluding remarks in the last section.

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