TOA UWB position estimation with two receivers and a set of known reflectors

Ultra-wideband is an attractive technology for short range positioning, especially indoors. However, for normal time of arrival (ToA) positioning, at least 3 receivers with unblocked direct path to the transmitter are required. A requirement that is not always met. In this work, a novel algorithm for ToA positioning using only 2 receivers is presented. This is possible by exploiting reflections from a set of known flat reflectors, for example ceiling and walls. The proposed algorithm was tested using self-developed UWB propagation simulator testbed.