Distribution of ultra wideband (UWB) receive timestamps in dense indoor environment based on the Saleh-Valenzuela channel model

In ultra wideband (UWB) based localization and ranging systems, the main error source of ranging is the multi path effect on the timestamping process. However, in the literature it is widely assumed that the receive timestamp has some Gaussian distribution. The paper uses simulations featuring the recommended channel model of the IEEE 802.15.4a standard to investigate the distribution of the receive timestamps in dense office indoor environments. It is shown here that the distribution of receive timestamps is dissimilar to the Gaussian distribution, and the paper proposes a distribution applicable for probability inference methods.