Ultra-wideband-based multilateration technique for indoor localisation

In this study, the authors present a novel geometrically driven multilateration technique that is based on ultra-wideband (UWB) technology. The authors refer to their proposed solution as time reflection of arrival (TROA). They demonstrate in this study how the position estimation error is improved upon by carefully considering the inherent properties of the UWB technology and the reflection properties of transmitted UWB signals. By a direct comparison between TROA and two widely used multilateration techniques, the authors show that indoor position estimation can be done much more effectively using their proposed solution. They also derive a new Cramér–Rao lower bound for TROA multilateration and use it to show its level of efficiency.