3D position error bound for wideband localization systems with application to UAVs

Positioning is a crucial element of the new connected world and its integration with the current and future releases of the mobile system technology has been gaining interest since the introduction of the 5G verticals. In the application layer, positioning provides an additional and, in many cases, a fundamental value for the implementation of services like terrestrial and non-terrestrial vehicles, industrial robots and many other advanced systems. In this work we present a study on the formulation of the 3D Position Error Bound (PEB) based on Time-of-Arrival measures. We extend the analysis of the localization Cramer Rao Bound to the 3D geometry including the impacts of multipath, multiple anchors, clock and position offsets. In addition, we elaborate the result, providing a deeper insight on potential applications of this analytical tool, as positioning of Unmanned Aerial Vehicles in areas covered by 5G signals.