1Measurement Analysis and Channel Modeling for TOA-Based Ranging in Tunnels

Abstract—A robust and accurate positioning solution is re-quired to increase the safety in GPS-denied environments. Al-though there is a lot of available research in this area, little has been done for confined environments such as tunnels. Therefore, we organized a measurement campaign in a basement tunnel of Linköping university, in which we obtained ultra-wideband (UWB) complex impulse responses for line-of-sight (LOS), and three non-LOS (NLOS) scenarios. This paper is focused on time-of-arrival (TOA) ranging since this technique can provide the most accurate range estimates, which are required for range-based positioning. We describe the measurement setup and procedure, select the threshold for TOA estimation, analyze the channel propagation parameters obtained from the power delay profile (PDP), and provide statistical model for ranging. According to our results, the rise-time should be used for NLOS identification, and the maximum excess delay should be used for NLOS error mitigation. However, the NLOS condition cannot be perfectly determined, so the distance likelihood has to be represented in a Gaussian mixture form. Index Terms—tunnels, channel modeling, time of arrival, ultra-wideband, impulse response, ranging, positioning. I.