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

This article presents a new approach for the wireless clock synchronization\nof Decawave ultra-wideband transceivers based on the time difference of\narrival. The presented techniques combine the time-of-arrival and\ntime-difference-of-arrival measurements without losing the advantages of each\napproach. The precision and accuracy of the distances measured by the Decawave\ndevices depends on three effects: signal power, clock drift, and uncertainty in\nthe hardware delay. This article shows how all three effects may be compensated\nwith both measurement techniques.\n