Toward Near-Ground Localization: Modeling and Applications for TOA Ranging Error

Near-ground localization is a special type of localization scenario that is widely considered in both academic and industry. In this communication, with considering the multipath condition in nearground environments, we conducted field measurements and proposed an antenna height-dependent time of arrival (TOA) ranging error model. Experiment results show that TOA distance measurement errors accord with Gaussian distribution, and its mean and variance are directly related with antenna height and communication distance. Based on the proposed TOA ranging error model, Cramer-Rao lower bound under typical scenarios have been calculated, and localization performance simulation has been studied. The experiment results indicate that the proposed TOA ranging error model has significant theoretical and practical application values.