Designing a Basic IR-UWB-RTLS - Raw-data position estimation utilizing TWR

In this paper, an impulse-radio ultra-wideband (IR-UWB) localization system is presented which uses a trilateration-scheme to localize an active UWB transponder (tag). The distance measurements required for trilateration are carried out per two-way ranging (TWR) against a known fixed infrastructure of reference-transponders (anchors). Further, the localization accuracy and the influence of obstacles is evaluated.