A Real-Time UWB Location and Tracking System Based on TWR-TDOA Estimation and a Simplified MPGA Layout Optimization

<div>RMSE of localization by Chan-EKF, TWR-TDOA, TWR-TDOA-KF, Optimized TWR-TDOA, and Optimized TWR-TDOA-KF, when <i>δ</i> = 4 cm, <i>δ</i> = 6 cm, and <i>δ</i> = 8 cm.</div>

Mobile Information Systems

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Figure 4

Figure 4: A Real-Time UWB Location and Tracking System Based on TWR-TDOA Estimation and a Simplified MPGA Layout Optimization 