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Time of arrival (ToA) estimation using ultra-wideband (UWB) transmission is currently the most popular technique for accurate geolocation. In this paper, we address the performance of non-coherent TOA estimation schemes of IR-UWB signals. The algorithm of estimation is based on two step (coarse and fine) energy detection. The algorithm is evaluated for a particular environment (i.e., underground mines). Hence, all simulations are performed using a generated UWB channel in an underground mine. Results show that the proposed detector greatly outperforms other conventional method like peak detection and threshold crossing method. Statistical characterizations of the normalized ranging error using this algorithm are evaluated for LOS and NLOS scenarios.