I. Introduction
Precise radio frequency (RF) indoor positioning systems (IPS) are key to many location-based services such as indoor navigation and object tracking [1]. Recently, Ultra-wideband (UWB) gained a lot of attention as an accurate and resilient, yet cost-efficient technology [2], [3]. While under ideal line-of-sight (LOS) conditions UWB ranging may yield sub-centimeter accuracy [2], non-line-of-sight (NLOS) propagation caused by obstructions and reflections is still challenging.