Cramér-Rao Lower-Bound for Round-Trip Delay Ranging with Subcarrier-Interleaved OFDMA

In this paper, we propose orthogonal frequency-division multiple access with subcarrier interleaving and jointly with round-trip delay ranging. We formulate the transmission chain and focus on deriving a multilink Cramer-Rao lower bound (CRLB). The resulting CRLB is thoroughly analyzed, relevant parameters are discussed, and simulations with 3rd Generation Partnership Project long-term evolution system parameters are conducted. Submeter ranging precisions are predicted, and the suitability of our proposed concept for cooperative positioning of robotic swarms with high relative mobility is shown