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

This article presents a time of arrival and time difference of arrival fusion for Decawave ultra-wideband transceivers. 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.