On the Trade-off Between Accuracy and Delay in UWB Navigation

We investigate the relation between medium access control (MAC) delay and ultra-wide bandwidth (UWB) tracking accuracy. We quantify this relation by deriving fundamental lower bounds on tracking accuracy and MAC delay for arbitrary finite networks. Our main finding is that the traditional ways to increase accuracy (e.g., increasing the number of anchors or the transmission power) may lead to large MAC delays. We evaluate two methods to mitigate these delays.