System-level noise of an ultra-wideband tracking system

Previous works in ultra-wideband (UWB) noise modeling have mostly focused on isolating the individual sources of error. However, it is important to recognize that some errors will always pass through to the system output. In this work, we methodically evaluated the system-level noise of a UWB position tracking system. We define system-level noise as the measurement error obtained when the system is installed in a real-world environment. Our results show that a multi-modal noise model will be essential for filtering system-level noise. To encourage further research, all of our data has been made publicly available.