We quantitatively investigate the possibility of detecting baryonic acoustic oscillations (BAO) using single-dish 21cm intensity mapping observations in the post-reionization era. We show that the telescope beam smears out the isotropic BAO signature and, in the case of the Square Kilometer Array (SKA) instrument, makes it undetectable at redshifts $zgtrsim1$. We however demonstrate that the BAO peak can still be detected in the radial 21cm power spectrum and describe a method to make this type of measurements. By means of numerical simulations, containing the 21cm cosmological signal as well as the most relevant Galactic and extra-Galactic foregrounds and basic instrumental effect, we quantify the precision with which the radial BAO scale can be measured in the 21cm power spectrum. We systematically investigate the signal-to-noise and the precision of the recovered BAO signal as a function of cosmic variance, instrumental noise, angular resolution and foreground contamination. We find that the expected noise levels of SKA would degrade the final BAO errors by $sim5%$ with respect to the cosmic-variance limited case at low redshifts, but that the effect grows up to $sim65%$ at $zsim2-3$. Furthermore, we find that the radial BAO signature is robust against foreground systematics, and that the main effect is an increase of $sim20%$ in the final uncertainty on the standard ruler caused by the contribution of foreground residuals as well as the reduction in sky area needed to avoid high-foreground regions. We also find that it should be possible to detect the radial BAO signature with high significance in the full redshift range. We conclude that a 21cm experiment carried out by the SKA should be able to make direct measurements of the expansion rate $H(z)$ with competitive per-cent level precision on redshifts $zlesssim2.5$.
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