Fusion of time of arrival and time difference of arrival for ultra-wideband indoor localization

TL;DR

This paper introduces a novel indoor localization method combining TDOA and ToA measurements for ultra-wideband devices, improving accuracy by compensating for signal power, clock drift, and hardware delay effects.

Contribution

It presents a new approach that integrates ToA and TDOA measurements to enhance indoor localization accuracy with effective compensation techniques.

Findings

Improved distance measurement precision in UWB systems.

Effective compensation for clock drift and hardware delay.

Enhanced indoor localization accuracy.

Abstract

This article presents a new approach for the wireless clock synchronization of Decawave ultra-wideband transceivers based on the time difference of arrival. The presented techniques combine the time-of-arrival and time-difference-of-arrival measurements without losing the advantages of each approach. The precision and accuracy of the distances measured by the Decawave devices depends on three effects: signal power, clock drift, and uncertainty in the hardware delay. This article shows how all three effects may be compensated with both measurement techniques.