Experimental validation of TOA UWB positioning with two receivers using known indoor features

Ultra-Wideband is an attractive technology for short range positioning, especially indoors. However, for normal Time of Arrival (ToA) positioning, at least three receivers with unblocked direct path to the transmitter are required. This requirement is not always met. In this work, a novel algorithm for ToA positioning using only two receivers is presented and validated using data from a measurement campaign. Positioning with two receivers is possible by exploiting the knowledge of some of the indoor features, namely positions of big flat reflective surfaces, for example ceiling and walls.