TOA/TDOA hybrid relative positioning system using UWB-IR

We developed a TOA/TDOA hybrid relative positioning system with UWB-IR technology. The proposed system reduces both the number of base stations and the wireless communication times in a positioning sequence. We evaluated the system performance over various distances between base stations by using computer simulations and experiments, assuming that the target nodes were outside the area surrounded by the base stations. For the experiments, we implemented the system with UWB transceivers that we developed. From the experimental results, we confirmed that the proposed system could detect the relative positions of the target nodes using two base stations 4 m apart and with a measured angle accuracy of 8.6 degrees.