FlexTDOA: Robust and Scalable Time-Difference of Arrival Localization Using Ultra-Wideband Devices

In this paper, we propose FlexTDOA, an indoor localization method and a system using ultra-wideband (UWB) radios. Our uses time-difference of arrival (TDOA) so that the user device remains passive is able to compute its location simply by listening communication between fixed anchors, ensuring scalability our system. The anchors communicate custom-designed, flexible time-division multiple-access (TDMA) scheme in which time divided slots, each slot one anchor interrogates or more respond same slot. Clock synchronization not needed. We implemented FlexTDOA on in-house designed hardware commercial UWB module. compare against classic TDOA approach range-based deployment ten tag, both with without obstructions. Results show achieves highest accuracy most scenarios. also evaluate under multiple conditions varying parameters such as number responses, their order, anchors. simulate effect physical speed tag choice optimum parameters.