Demo Abstract — PolyPoint: High-Precision Indoor Localization with UWB

We demonstrate PolyPoint, a high-fidelity RF-based indoor localization system that achieves 28 cm accuracy indoors and tracks a fastmoving quadcopter with only 56 cm average error. PolyPoint uses ultra-wideband signals to achieve high precision RF time-of-flight estimates between nodes. To further improve accuracy, PolyPoint exploits two forms of diversity: frequency diversity, which leverages several ultra-wideband channels to improve channel response, and antenna diversity, which adds three antennas at 120° offsets to mitigate the effects of antenna polarization and nulls. PolyPoint introduces an efficient, novel ranging protocol that maximizes these diversity sources with a minimal number of packets. Additionally, this work introduces a new hardware platform that provides ranging and localization as a service. The minimal TriPoint module integrates an ultra-wideband transceiver and microcontroller with firmware that implements the PolyPoint protocol. The TriTag carrier board adds Bluetooth and batteries to create a complete mobile tag, and the TriBase anchor platform integrates a TriPoint with an Intel Edison to act as anchors for the system.