Time of arrival and power delay profile estimation for IR-UWB systems

► A joint sub-Nyquist ML estimator of the TOA and APDP is proposed for IR-UWB systems. ► The multi-cluster APDP parameters are estimated via a least-squares approach. ► The multi-dimensional Cramer-Rao bound on parameter estimates is developed. ► The estimated APDP can be employed by earlier TOA estimation methods. ► The proposed TOA estimator has a good accuracy and outperforms earlier methods.