Ziv-Zakai Lower Bound for Impulse Radio Ultra-WideBand Ranging Error Correlation Matrix

We derive the Ziv-Zakai lower bound for Impulse Radio (IR) Ultra-WideBand (UWB) ranging error correlation matrix under a classical IR-UWB positioning system. We present the numerical evaluations with IEEE 802.15.4a channel model and the geometry of indoor environments of interest. As our derived bound depends on the geometry of the indoor environments, our bound can be used in real environments with the channel measurements from real environments.