High-precision indoor UWB localization: Technical challenges and method

We describe a centimeter-accuracy, three-dimensional ultra-wideband localization system for applications in a dense-multipath environment. From experimental results, we provide an in-depth analysis of the technical challenges toward realizing a robust, high-precision system: angle-dependent received waveform distortion and path-overlap. Specifically, for a realistic configuration (receiver placement, distance between transmit and receive antennas, and channel condition), we quantify the timing errors caused by the angle-dependent waveform distortion with First Peak detection, Leading-edge (LE) detection, and Matched Filter approaches at different relative angles between the boresights of the transmit and receive antennas. We then develop a new LE detection algorithm that virtually eliminates the timing errors caused by path-overlap.