Analysis of Cramer-Rao Lower Bound for time delay estimation using UWB pulses

In this paper, we analyze the performance of time delay estimation with regards to different pulse shape in UWB indoor navigation. For the performance of time delay estimation, the Cramer-Rao Lower Bound (CRLB) criterion is used and the performance is analyzed under various criteria of pulse shape, such as pulse period, order of differentiation, and the effective pulse width. Moreover, the reasonability of derived performance analysis is verified through numerical results with most conventional UWB pulses; such as Gaussian monocycles, modified Hermite pulses, and prolate spheroidal pulses.