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Current trends in autonomous vehicles and their applications indicates anincreasing need in positioning at low battery and compute cost. Lidars provideaccurate localization at the cost of high compute and power consumption whichcould be detrimental for drones. Modern requirements for autonomous drones suchas No-Permit-No-Takeoff (NPNT) and applications restricting drones to acorridor require the infrastructure to constantly determine the location of thedrone. Ultra Wide Band Radios (UWB) fulfill such requirements and offer highprecision localization and fast position update rates at a fraction of the costand battery consumption as compared to lidars and also have greater networkavailability than GPS in a dense forested campus or an indoor setting. Wepresent in this paper a novel protocol and technique to localize a drone forsuch applications using a Time Difference of Arrival (TDoA) approach. Thisfurther increases the position update rates without sacrificing on accuracy andcompare it to traditional methods

Robust and Scalable Techniques for TWR and TDoA based localization using Ultra Wide Band Radios