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In this paper, the extension of cooperative communication to the context of TH-UWB is investigated. In particular, the average bit error probability (BEP) is provided for cooperative TH-UWB systems with decode-and-forward relaying protocol. In the considered relay network, UWB links among the nodes are modeled according to IEEE 802.15.4a standards. Our methodology is based on computing the characteristic function (CF) of the decision variable at the destination terminal. We use Gaussian quadrature numerical method to approximate the CF of interference component appeared in decision variable term. This technique permits to predict the system performance in different IEEE 802.15.4a defined channels with high accuracy and reasonable complexity. Numerical results show that significant improvement in the BEP of impulse radio UWB system is obtained by adding a relay node. The analytical expressions are also validated by computer simulations which confirm the accuracy of the approximations used in obtaining the BEP.