Nowadays, accurate localization plays an essential role in many fields, such as target tracking and path planning. The challenges of indoor localization include inadequate localization accuracy, unreasonable anchor deployment in complex scenarios, lack of stability, and the high cost. So, the universal positioning technologies cannot meet the real application requirements scarcely. To overcome these shortcomings, a comprehensive ultra wide-band (UWB)-based real-time localization system (RTLS) is presented in this paper. We introduce the architecture of a real-time localization system, then propose a new wireless clock synchronization (WCS) scheme, and finally discuss the time difference of arrival (TDoA) algorithm. We define the time-base selection strategy for the TDoA algorithm, and we analyze the relationship between anchor deployment and positioning accuracy. The extended Kalman filter (EKF) method is presented for non-linear dynamic localization estimation, and it performs well in terms of stability and accuracy on moving targets.

A study is conducted with the aim to reveal the relationship between the performance of moving object tracking algorithms and tracking anchor (station) deployment. The dilution of precision (DoP) for the time difference of arrival (TDoA) technique with respect to anchor deployment is studied. Linear and non‐linear estimators are used for TDoA algorithms. The research findings for the linear estimator indicate that the DoP attains a lower value when other anchors are scattered around a central anchor; for the non‐linear estimator, the DoP is optimal when the anchors are scattered around the target tag. Experiments on both algorithms are conducted that target location precision related to anchor deployment in practical situations for tracking moving objects integrated with a Kalman filter in an ultra‐wideband (UWB)‐based real‐time localization system. The work provides a guideline for deploying anchors in UWB‐based tracking systems.

Accurate clock synchronization is crucial for ultra-wideband (UWB) localization, including smart parking systems and navigation systems. This study proposes a clock model designed specifically for UWB anchors and introduces an innovative wireless clock synchronization algorithm, leveraging a three-state Kalman filter. Additionally, an efficient UWB-based positioning network and a real-time positioning system are developed. Moreover, a comprehensive smart parking service framework, rooted in UWB technology, is proposed. The effectiveness of both the wireless clock synchronization algorithm and the real-time positioning system is vigorously validated within a parking lot environment. The findings demonstrate the potential of these advancements to significantly enhance the efficiency and accuracy of smart parking services, offering promising applications in the field of wireless positioning and real-time tracking.

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 article proposes a comprehensive solution that combines ultrawideband (UWB) technology, Time Difference of Arrival (TDoA)-based positioning, and a cascaded wireless clock synchronization (CWCS) algorithm. First, we introduce the CWCS 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 TDoA calculation. For multiroom 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.