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This article presents a new approach for the wireless clock synchronizationof Decawave ultra-wideband transceivers based on the time difference ofarrival. The presented techniques combine the time-of-arrival andtime-difference-of-arrival measurements without losing the advantages of eachapproach. The precision and accuracy of the distances measured by the Decawavedevices depends on three effects: signal power, clock drift, and uncertainty inthe hardware delay. This article shows how all three effects may be compensatedwith both measurement techniques.

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