# Schedule based Self Localization of asynchronous wireless nodes with experimental validation

## TL;DR

This paper presents a schedule-based self-localization method for wireless nodes that mitigates clock errors using RLS estimation, validated through real-world experiments with UWB radios.

## Contribution

It introduces a measurement model accounting for clock errors and applies RLS for calibration, validated with practical experiments.

## Key findings

- Effective clock error mitigation in scheduled localization
- Improved localization accuracy demonstrated experimentally
- Validation with commercial UWB radios under IEEE protocols

## Abstract

In this paper we have proposed clock error mitigation from the measurements in the scheduled based self localization system. We propose measurement model with clock errors while following a scheduled transmission among anchor nodes. Further, RLS algorithm is proposed to estimate clock error and to calibrate measurements of self localizing node against relative clock errors of anchor nodes. A full-scale experimental validation is provided based on commercial off-the-shelf UWB radios under IEEE-standardized protocols.