Error analysis and experimental study on indoor UWB TDoA localization with reference tag

In indoor UWB TDoA localization systems, anchor clock drifts, RF and ADCs front end delay and their long term variation are main performance limiting factors. Anchor synchronization using reference tags instead of wired lines are promising for ease of deployment In this work, an error analysis on UWB TDoA localization system with reference tag is performed, focusing on propagation and clock drifts. A 500 MHz experimental UWB localization system with reference tag was built. Using single carrier UWB signal with a 127 chip PN code, the smallest TDoA measurement error is 21.7 cm and the worst error is 45.3 cm, as was shown by the test results.