I. Introduction
Research on Ultra-Wideband technology began in late 90s and was first standardized in early 2000s [1] when FCC opened up a chunk of spectrum from 3.1-10.6 GHz for unlicensed operation, with various power and other regulatory restrictions. UWB technology was researched for various applications including data transfer, indoor localization and sensing. With other data oriented technologies taking over, UWB majorly evolved as a positioning and localization technology. The latest amendment to existing UWB standards in IEEE in the form of IEEE 802.15.4z [2], which defines core PHY and MAC for ranging operations of UWB, has attracted a lot of interest from device manufacturers and service providers to provide UWB enabled localization features in their products like tags, smart locks etc. To build the UWB ecosystem, multiple companies have come together to form consortia like FiRa consortium [3]. FiRa consortium has been working on defining a framework of operation at higher layers and is coming up with use cases and certification programs.