On the selection of protocol and parameters for UWB-based wireless indoors localization

In this paper we address selection of a protocol and of the respective parameters and communication mode for UWB-based active wireless indoor localization of machines and humans in, e.g., homes, hospitals. etc. First we discuss the specifics of targeted scenario and provide an insight to the operation of an IEEE 802.15.4-compatible UWB localization system, using Decawave's DW1000 UWB transceiver as a reference. Then we discuss the sources of errors for UWB localization, present two state-of-the art (SotA) and propose one new localization protocol intended specifically for asymmetric scenario, and analyze the performance of all three protocols in respect to the clock drift. Finally, we discuss the implementation and present the results obtained in the real-life experiments. The obtained results illustrate the effect of various parameters on the accuracy of localization and confirm that the proposed protocol is less affected by variation of the protocol and communication parameters than the SotA ones, but is subject to have slightly higher deviation of the distance estimation than the symmetric ranging protocol.