Ultrawideband-Based Real-Time Positioning With Cascaded Wireless Clock Synchronization Method

Positioning services are often required in industrial and public applications. The requirements for positioning systems include sufficient positioning accuracy, appropriate anchor deployment in complex scenarios, stability, and precise clock synchronization between anchors. Therefore, algorithms designed for single-room and simple laboratory scenarios are not suitable. To address these challenges, this paper proposes a comprehensive solution that combines ultra-wideband (UWB) technology, time difference of arrival (TDoA)-based positioning, and a cascaded wireless clock synchronization algorithm. First, we introduce the cascaded wireless clock synchronization algorithm. Second, we discuss the control algorithm for transmitting clock calibration packets (CCP) through wireless broadcast. Finally, we define the time of arrival selection strategy for time difference of arrival calculation. For multi-room scenarios, we present a positioning boundary optimization method based on received signal strength power and the first path power. This method performs well in real-world experiments.