Clock Compensation Two-Way Ranging (CC-TWR) Based on Ultra-Wideband Communication

High accuracy and precision of positioning in Ultra-Wideband (UWB) localization system depends on the quality of clock oscillators, which influences system performance. This is a very common method of measuring the distance from the target to the reference node by two-way range (TWR) or symmetric double-sided two-way ranging (SDS-TWR), and then obtaining a 2D or 3D coordinate through the relevant algorithm. However, these methods may not meet the high accuracy or real-time requirements of the occasion. This paper presents a new way named CC-TWR based on TWR and clock compensation which can effectively reduce the influence of clock error (clock drift and frequency drift). UWB Ranging System was implemented and tested in static and dynamic practical cases based on DW1000 chip. The effects of clock errors measured by this CC-TWR way greatly is small than the traditional way from the experimental results. At the same time, CC-TWR also has the same high refresh rate as TWR.