{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,2,6]],"date-time":"2026-02-06T05:33:33Z","timestamp":1770356013527,"version":"3.49.0"},"reference-count":105,"publisher":"Association for Computing Machinery (ACM)","issue":"3","license":[{"start":{"date-parts":[[2021,9,9]],"date-time":"2021-09-09T00:00:00Z","timestamp":1631145600000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/www.acm.org\/publications\/policies\/copyright_policy#Background"}],"content-domain":{"domain":["dl.acm.org"],"crossmark-restriction":true},"short-container-title":["Proc. ACM Interact. Mob. Wearable Ubiquitous Technol."],"published-print":{"date-parts":[[2021,9,9]]},"abstract":"<jats:p>A myriad of IoT applications, ranging from tracking assets in hospitals, logistics, and construction industries to indoor tracking in large indoor spaces, demand centimeter-accurate localization that is robust to blockages from hands, furniture, or other occlusions in the environment. With this need, in the recent past, Ultra Wide Band (UWB) based localization and tracking has become popular. Its popularity is driven by its proposed high bandwidth and protocol specifically designed for localization of specialized \"tags\". This high bandwidth of UWB provides a fine resolution of the time-of-travel of the signal that can be translated to the location of the tag with centimeter-grade accuracy in a controlled environment. Unfortunately, we find that high latency and high-power consumption of these time-of-travel methods are the major culprits which prevent such a system from deploying multiple tags in the environment. Thus, we developed ULoc, a scalable, low-power, and cm-accurate UWB localization and tracking system. In ULoc, we custom build a multi-antenna UWB anchor that enables azimuth and polar angle of arrival (henceforth shortened to '3D-AoA') measurements, with just the reception of a single packet from the tag. By combining multiple UWB anchors, ULoc can localize the tag in 3D space. The single-packet location estimation reduces the latency of the entire system by at least 3\u00d7, as compared with state of art multi-packet UWB localization protocols, making UWB based localization scalable. ULoc's design also reduces the power consumption per location estimate at the tag by 9\u00d7, as compared to state-of-art time-of-travel algorithms. We further develop a novel 3D-AoA based 3D localization that shows a stationary localization accuracy of 3.6 cm which is 1.8\u00d7 better than the state-of-the-art two-way ranging (TWR) systems. We further developed a temporal tracking system that achieves a tracking accuracy of 10 cm in mobile conditions which is 4.3\u00d7 better than the state-of-the-art TWR systems.<\/jats:p>","DOI":"10.1145\/3478124","type":"journal-article","created":{"date-parts":[[2021,9,14]],"date-time":"2021-09-14T22:48:23Z","timestamp":1631659703000},"page":"1-31","update-policy":"https:\/\/doi.org\/10.1145\/crossmark-policy","source":"Crossref","is-referenced-by-count":69,"title":["ULoc"],"prefix":"10.1145","volume":"5","author":[{"given":"Minghui","family":"Zhao","sequence":"first","affiliation":[{"name":"University of California, San Diego, USA"}]},{"given":"Tyler","family":"Chang","sequence":"additional","affiliation":[{"name":"University of California, San Diego, USA"}]},{"given":"Aditya","family":"Arun","sequence":"additional","affiliation":[{"name":"University of California, San Diego, USA"}]},{"given":"Roshan","family":"Ayyalasomayajula","sequence":"additional","affiliation":[{"name":"University of California, San Diego, USA"}]},{"given":"Chi","family":"Zhang","sequence":"additional","affiliation":[{"name":"University of California, San Diego, USA"}]},{"given":"Dinesh","family":"Bharadia","sequence":"additional","affiliation":[{"name":"University of California, San Diego, USA"}]}],"member":"320","published-online":{"date-parts":[[2021,9,14]]},"reference":[{"key":"e_1_2_2_1_1","volume-title":"https:\/\/www.airfinder.com\/. (March 29","year":"2021","unstructured":"2021. AirFinder. https:\/\/www.airfinder.com\/. (March 29 2021 ). Accessed : 2021-04-29. 2021. AirFinder. https:\/\/www.airfinder.com\/. (March 29 2021). Accessed: 2021-04-29."},{"key":"e_1_2_2_2_1","volume-title":"Amazon Robotics warehouse robot datasheet. https:\/\/robots.ieee.org\/robots\/kiva\/. (March 29","year":"2021","unstructured":"2021. Amazon Robotics warehouse robot datasheet. https:\/\/robots.ieee.org\/robots\/kiva\/. (March 29 2021 ). Accessed : 2021-04-29. 2021. Amazon Robotics warehouse robot datasheet. https:\/\/robots.ieee.org\/robots\/kiva\/. (March 29 2021). Accessed: 2021-04-29."},{"key":"e_1_2_2_3_1","volume-title":"https:\/\/support.apple.com\/en-in\/guide\/iphone\/iph771fd0aad\/ios. (March 29","year":"2021","unstructured":"2021. Apple. https:\/\/support.apple.com\/en-in\/guide\/iphone\/iph771fd0aad\/ios. (March 29 2021 ). Accessed : 2021-04-29. 2021. Apple. https:\/\/support.apple.com\/en-in\/guide\/iphone\/iph771fd0aad\/ios. (March 29 2021). Accessed: 2021-04-29."},{"key":"e_1_2_2_4_1","volume-title":"Apple UWB-based Airtag. https:\/\/www.apple.com\/newsroom\/2021\/04\/apple-introduces-airtag\/. (March 29","year":"2021","unstructured":"2021. Apple UWB-based Airtag. https:\/\/www.apple.com\/newsroom\/2021\/04\/apple-introduces-airtag\/. (March 29 2021 ). Accessed : 2021-04-29. 2021. Apple UWB-based Airtag. https:\/\/www.apple.com\/newsroom\/2021\/04\/apple-introduces-airtag\/. (March 29 2021). Accessed: 2021-04-29."},{"key":"e_1_2_2_5_1","volume-title":"https:\/\/www.cisco.com\/c\/dam\/global\/sr_rs\/assets\/Wireless_in_retail.pdf. (March 29","year":"2021","unstructured":"2021. Cisco. https:\/\/www.cisco.com\/c\/dam\/global\/sr_rs\/assets\/Wireless_in_retail.pdf. (March 29 2021 ). Accessed : 2021-04-29. 2021. Cisco. https:\/\/www.cisco.com\/c\/dam\/global\/sr_rs\/assets\/Wireless_in_retail.pdf. (March 29 2021). Accessed: 2021-04-29."},{"key":"e_1_2_2_6_1","volume-title":"Decawave DW1000 User Manual. https:\/\/www.decawave.com\/sites\/default\/files\/resources\/dw1000_user_manual_2.11.pdf. (March 29","year":"2021","unstructured":"2021. Decawave DW1000 User Manual. https:\/\/www.decawave.com\/sites\/default\/files\/resources\/dw1000_user_manual_2.11.pdf. (March 29 2021 ). Accessed : 2021-04-29. 2021. Decawave DW1000 User Manual. https:\/\/www.decawave.com\/sites\/default\/files\/resources\/dw1000_user_manual_2.11.pdf. (March 29 2021). Accessed: 2021-04-29."},{"key":"e_1_2_2_7_1","volume-title":"Decawave DWM1000 Module Datasheet. https:\/\/www.decawave.com\/sites\/default\/files\/resources\/DWM1000-Datasheet-V1.6.pdf. (March 29","year":"2021","unstructured":"2021. Decawave DWM1000 Module Datasheet. https:\/\/www.decawave.com\/sites\/default\/files\/resources\/DWM1000-Datasheet-V1.6.pdf. (March 29 2021 ). Accessed : 2021-04-29. 2021. Decawave DWM1000 Module Datasheet. https:\/\/www.decawave.com\/sites\/default\/files\/resources\/DWM1000-Datasheet-V1.6.pdf. (March 29 2021). Accessed: 2021-04-29."},{"key":"e_1_2_2_8_1","volume-title":"https:\/\/www.eliko.ee\/products\/kio-rtls\/. (March 29","year":"2021","unstructured":"2021. Eliko. https:\/\/www.eliko.ee\/products\/kio-rtls\/. (March 29 2021 ). Accessed : 2021-04-29. 2021. Eliko. https:\/\/www.eliko.ee\/products\/kio-rtls\/. (March 29 2021). Accessed: 2021-04-29."},{"key":"e_1_2_2_9_1","volume-title":"https:\/\/timedomain.com\/industries\/research-and-education\/scholar-ranging-localization\/. (March 29","year":"2021","unstructured":"2021. Humatics. https:\/\/timedomain.com\/industries\/research-and-education\/scholar-ranging-localization\/. (March 29 2021 ). Accessed : 2021-04-29. 2021. Humatics. https:\/\/timedomain.com\/industries\/research-and-education\/scholar-ranging-localization\/. (March 29 2021). Accessed: 2021-04-29."},{"key":"e_1_2_2_10_1","volume-title":"https:\/\/www.infsoft.com\/technology\/positioning-technologies\/ultra-wideband. (March 29","year":"2021","unstructured":"2021. Infsoft. https:\/\/www.infsoft.com\/technology\/positioning-technologies\/ultra-wideband. (March 29 2021 ). Accessed : 2021-04-29. 2021. Infsoft. https:\/\/www.infsoft.com\/technology\/positioning-technologies\/ultra-wideband. (March 29 2021). Accessed: 2021-04-29."},{"key":"e_1_2_2_11_1","volume-title":"Inpixon Indoor Asset tracking. https:\/\/www.inpixon.com\/technology. (March 29","year":"2021","unstructured":"2021. Inpixon Indoor Asset tracking. https:\/\/www.inpixon.com\/technology. (March 29 2021 ). Accessed : 2021-04-29. 2021. Inpixon Indoor Asset tracking. https:\/\/www.inpixon.com\/technology. (March 29 2021). Accessed: 2021-04-29."},{"key":"e_1_2_2_12_1","volume-title":"Kinexion - Precise real time localization. https:\/\/kinexon.com\/. (March 29","year":"2021","unstructured":"2021. Kinexion - Precise real time localization. https:\/\/kinexon.com\/. (March 29 2021 ). Accessed : 2021-04-29. 2021. Kinexion - Precise real time localization. https:\/\/kinexon.com\/. (March 29 2021). Accessed: 2021-04-29."},{"key":"e_1_2_2_13_1","volume-title":"https:\/\/locatify.com\/. (March 29","year":"2021","unstructured":"2021. Locatify. https:\/\/locatify.com\/. (March 29 2021 ). Accessed : 2021-04-29. 2021. Locatify. https:\/\/locatify.com\/. (March 29 2021). Accessed: 2021-04-29."},{"key":"e_1_2_2_14_1","volume-title":"https:\/\/marvelmind.com\/. (March 29","year":"2021","unstructured":"2021. MarvelMind. https:\/\/marvelmind.com\/. (March 29 2021 ). Accessed : 2021-04-29. 2021. MarvelMind. https:\/\/marvelmind.com\/. (March 29 2021). Accessed: 2021-04-29."},{"key":"e_1_2_2_15_1","volume-title":"NXP Ultra-wideband kit. https:\/\/www.nxp.com\/products\/wireless\/secure-ultra-wideband-uwb\/trimension-uwb-development-kit:MK-UWB-DEV-KIT. (March 29","year":"2021","unstructured":"2021. NXP Ultra-wideband kit. https:\/\/www.nxp.com\/products\/wireless\/secure-ultra-wideband-uwb\/trimension-uwb-development-kit:MK-UWB-DEV-KIT. (March 29 2021 ). Accessed : 2021-04-29. 2021. NXP Ultra-wideband kit. https:\/\/www.nxp.com\/products\/wireless\/secure-ultra-wideband-uwb\/trimension-uwb-development-kit:MK-UWB-DEV-KIT. (March 29 2021). Accessed: 2021-04-29."},{"key":"e_1_2_2_16_1","volume-title":"pozyx.io. (March 29","year":"2021","unstructured":"2021. Pozyx. pozyx.io. (March 29 2021 ). Accessed : 2021-04-29. 2021. Pozyx. pozyx.io. (March 29 2021). Accessed: 2021-04-29."},{"key":"e_1_2_2_17_1","volume-title":"Samsung Galaxy SmartTag+. https:\/\/news.samsung.com\/us\/introducing-the-new-galaxy-smarttag-plus\/. (March 29","year":"2021","unstructured":"2021. Samsung Galaxy SmartTag+. https:\/\/news.samsung.com\/us\/introducing-the-new-galaxy-smarttag-plus\/. (March 29 2021 ). Accessed : 2021-04-29. 2021. Samsung Galaxy SmartTag+. https:\/\/news.samsung.com\/us\/introducing-the-new-galaxy-smarttag-plus\/. (March 29 2021). Accessed: 2021-04-29."},{"key":"e_1_2_2_18_1","volume-title":"Tenna Construction asset tracking. https:\/\/www.tenna.com\/use-cases\/asset-tracking\/. (March 29","year":"2021","unstructured":"2021. Tenna Construction asset tracking. https:\/\/www.tenna.com\/use-cases\/asset-tracking\/. (March 29 2021 ). Accessed : 2021-04-29. 2021. Tenna Construction asset tracking. https:\/\/www.tenna.com\/use-cases\/asset-tracking\/. (March 29 2021). Accessed: 2021-04-29."},{"key":"e_1_2_2_19_1","volume-title":"Tile UWB tracker. https:\/\/techcrunch.com\/2021\/01\/05\/tile-to-launch-to-launch-a-new-tracker-powered-by-ultra-wideband-technology\/. (March 29","year":"2021","unstructured":"2021. Tile UWB tracker. https:\/\/techcrunch.com\/2021\/01\/05\/tile-to-launch-to-launch-a-new-tracker-powered-by-ultra-wideband-technology\/. (March 29 2021 ). Accessed : 2021-04-29. 2021. Tile UWB tracker. https:\/\/techcrunch.com\/2021\/01\/05\/tile-to-launch-to-launch-a-new-tracker-powered-by-ultra-wideband-technology\/. (March 29 2021). Accessed: 2021-04-29."},{"key":"e_1_2_2_20_1","volume-title":"https:\/\/ubisense.com\/sensor-systems\/. (March 29","year":"2021","unstructured":"2021. Ubisense. https:\/\/ubisense.com\/sensor-systems\/. (March 29 2021 ). Accessed : 2021-04-29. 2021. Ubisense. https:\/\/ubisense.com\/sensor-systems\/. (March 29 2021). Accessed: 2021-04-29."},{"key":"e_1_2_2_21_1","volume-title":"https:\/\/www.vicon.com\/. (March 29","year":"2021","unstructured":"2021. Vicon. https:\/\/www.vicon.com\/. (March 29 2021 ). Accessed : 2021-04-29. 2021. Vicon. https:\/\/www.vicon.com\/. (March 29 2021). Accessed: 2021-04-29."},{"key":"e_1_2_2_22_1","volume-title":"https:\/\/www.vive.com\/us\/product\/#cosmos%20series. (March 29","year":"2021","unstructured":"2021. Vive. https:\/\/www.vive.com\/us\/product\/#cosmos%20series. (March 29 2021 ). Accessed : 2021-04-29. 2021. Vive. https:\/\/www.vive.com\/us\/product\/#cosmos%20series. (March 29 2021). Accessed: 2021-04-29."},{"key":"e_1_2_2_23_1","unstructured":"Abracon 2015. Datasheet: ASTXR-12-38.400MHz-514054-T SMD TCXO. Abracon.  Abracon 2015. Datasheet: ASTXR-12-38.400MHz-514054-T SMD TCXO. Abracon."},{"key":"e_1_2_2_24_1","doi-asserted-by":"publisher","DOI":"10.3390\/s16050707"},{"key":"e_1_2_2_25_1","unstructured":"G Dickey Arndt Phong H Ngo Chau T Phan Julia Gross Jianjun Ni and John Dusl. 2010. Ultra-Wideband Angle-of-Arrival Tracking Systems. (2010).  G Dickey Arndt Phong H Ngo Chau T Phan Julia Gross Jianjun Ni and John Dusl. 2010. Ultra-Wideband Angle-of-Arrival Tracking Systems. (2010)."},{"key":"e_1_2_2_26_1","doi-asserted-by":"publisher","DOI":"10.1145\/3372224.3380894"},{"key":"e_1_2_2_27_1","doi-asserted-by":"publisher","DOI":"10.1145\/3281411.3281428"},{"key":"e_1_2_2_28_1","doi-asserted-by":"publisher","DOI":"10.3390\/electronics8101152"},{"key":"e_1_2_2_29_1","doi-asserted-by":"publisher","DOI":"10.1109\/ETFA.2019.8869511"},{"key":"e_1_2_2_30_1","doi-asserted-by":"publisher","DOI":"10.1109\/IROS.2018.8593707"},{"key":"e_1_2_2_31_1","doi-asserted-by":"publisher","DOI":"10.1145\/3409477"},{"key":"e_1_2_2_32_1","doi-asserted-by":"publisher","DOI":"10.1145\/3302506.3310395"},{"key":"e_1_2_2_33_1","unstructured":"Decawave 2017. TREK1000 software package. Decawave. https:\/\/www.decawave.com\/software\/.  Decawave 2017. TREK1000 software package. Decawave. https:\/\/www.decawave.com\/software\/."},{"key":"e_1_2_2_34_1","unstructured":"Decawave 2018. The implementation of two-way ranging with the DW1000. Decawave. Version 2.3.  Decawave 2018. The implementation of two-way ranging with the DW1000. Decawave. Version 2.3."},{"key":"e_1_2_2_35_1","unstructured":"Decawave 2020. Datasheet: DW1000 IEEE802.15.4-2011 UWB Transceiver. Decawave. Version 2.22.  Decawave 2020. Datasheet: DW1000 IEEE802.15.4-2011 UWB Transceiver. Decawave. Version 2.22."},{"key":"e_1_2_2_36_1","unstructured":"Diodes Incorporated 2011. Datasheet: AP1117 1A Low Dropout Regulator. Diodes Incorporated. Document number: DS31009 Rev. 21--2.  Diodes Incorporated 2011. Datasheet: AP1117 1A Low Dropout Regulator. Diodes Incorporated. Document number: DS31009 Rev. 21--2."},{"key":"e_1_2_2_37_1","unstructured":"Diodes Incorporated 2017. Datasheet: AP2112 600mA CMOS LDO REGULATOR WITH ENABLE. Diodes Incorporated. Document number: DS39724 Rev. 2 - 2.  Diodes Incorporated 2017. Datasheet: AP2112 600mA CMOS LDO REGULATOR WITH ENABLE. Diodes Incorporated. Document number: DS39724 Rev. 2 - 2."},{"key":"e_1_2_2_38_1","doi-asserted-by":"publisher","DOI":"10.1109\/WPNC.2017.8250079"},{"key":"e_1_2_2_39_1","volume-title":"Datasheet: CR2032 Lithium Coin cell. Energizer. Doc. 2032NA0618","author":"Energizer","unstructured":"Energizer [n. d.]. Datasheet: CR2032 Lithium Coin cell. Energizer. Doc. 2032NA0618 . Energizer [n. d.]. Datasheet: CR2032 Lithium Coin cell. Energizer. Doc. 2032NA0618."},{"key":"e_1_2_2_40_1","doi-asserted-by":"publisher","DOI":"10.1016\/j.sna.2013.06.019"},{"key":"e_1_2_2_41_1","doi-asserted-by":"publisher","DOI":"10.1109\/ICIT.2015.7125601"},{"key":"e_1_2_2_42_1","doi-asserted-by":"publisher","DOI":"10.1145\/3432215"},{"key":"e_1_2_2_43_1","doi-asserted-by":"publisher","DOI":"10.1109\/MECAP.2010.5724210"},{"key":"e_1_2_2_44_1","doi-asserted-by":"publisher","DOI":"10.1145\/2639108.2639139"},{"key":"e_1_2_2_45_1","volume-title":"Gerardo Moyers Barrera, and R Venkatesha Prasad","author":"Gokhale Vineet","year":"2021","unstructured":"Vineet Gokhale , Gerardo Moyers Barrera, and R Venkatesha Prasad . 2021 . FEEL : Fast, Energy-Efficient Localization for Autonomous Indoor Vehicles . arXiv preprint arXiv:2102.00702 (2021). Vineet Gokhale, Gerardo Moyers Barrera, and R Venkatesha Prasad. 2021. FEEL: Fast, Energy-Efficient Localization for Autonomous Indoor Vehicles. arXiv preprint arXiv:2102.00702 (2021)."},{"key":"e_1_2_2_46_1","doi-asserted-by":"publisher","DOI":"10.1145\/3302506.3310389"},{"key":"e_1_2_2_47_1","doi-asserted-by":"publisher","DOI":"10.1145\/3274783.3274844"},{"key":"e_1_2_2_48_1","doi-asserted-by":"publisher","DOI":"10.1109\/WCNC.2007.296"},{"key":"e_1_2_2_49_1","doi-asserted-by":"publisher","DOI":"10.1109\/DCOSS49796.2020.00028"},{"key":"e_1_2_2_50_1","doi-asserted-by":"publisher","DOI":"10.4304\/jcm.3.1.12-19"},{"key":"e_1_2_2_51_1","unstructured":"Kiran Joshi Steven Hong and Sachin Katti. 2013. PinPoint: Localizing Interfering Radios (NSDI).  Kiran Joshi Steven Hong and Sachin Katti. 2013. PinPoint: Localizing Interfering Radios (NSDI)."},{"key":"e_1_2_2_52_1","doi-asserted-by":"publisher","DOI":"10.1007\/978-3-319-20913-5_40"},{"key":"e_1_2_2_53_1","doi-asserted-by":"publisher","DOI":"10.1109\/MCOM.2010.5394030"},{"key":"e_1_2_2_54_1","doi-asserted-by":"publisher","DOI":"10.5555\/2959355.2959370"},{"key":"e_1_2_2_55_1","doi-asserted-by":"crossref","unstructured":"Manikanta Kotaru Kiran Joshi Dinesh Bharadia and Sachin Katti. 2015. SpotFi: Decimeter Level Localization Using Wi-Fi (SIGCOMM).  Manikanta Kotaru Kiran Joshi Dinesh Bharadia and Sachin Katti. 2015. SpotFi: Decimeter Level Localization Using Wi-Fi (SIGCOMM).","DOI":"10.1145\/2785956.2787487"},{"key":"e_1_2_2_56_1","doi-asserted-by":"publisher","DOI":"10.1109\/CVPR.2017.286"},{"key":"e_1_2_2_57_1","doi-asserted-by":"publisher","DOI":"10.1109\/ICUWB.2007.4380919"},{"key":"e_1_2_2_58_1","doi-asserted-by":"publisher","DOI":"10.1109\/ICUWB.2008.4653368"},{"key":"e_1_2_2_59_1","doi-asserted-by":"crossref","unstructured":"Swarun Kumar Stephanie Gil Dina Katabi and Daniela Rus. 2014. Accurate Indoor Localization with Zero Start-up Cost (MobiCom).  Swarun Kumar Stephanie Gil Dina Katabi and Daniela Rus. 2014. Accurate Indoor Localization with Zero Start-up Cost (MobiCom).","DOI":"10.1145\/2639108.2639142"},{"key":"e_1_2_2_60_1","doi-asserted-by":"publisher","DOI":"10.3390\/s19204466"},{"key":"e_1_2_2_61_1","doi-asserted-by":"publisher","DOI":"10.1109\/IROS.2015.7353810"},{"key":"e_1_2_2_62_1","volume-title":"Weighted-average based aoa parameter estimations for LR-UWB wireless positioning system. IEICE transactions on communications 94, 12","author":"Lee Yong Up","year":"2011","unstructured":"Yong Up Lee . 2011. Weighted-average based aoa parameter estimations for LR-UWB wireless positioning system. IEICE transactions on communications 94, 12 ( 2011 ), 3599--3602. Yong Up Lee. 2011. Weighted-average based aoa parameter estimations for LR-UWB wireless positioning system. IEICE transactions on communications 94, 12 (2011), 3599--3602."},{"key":"e_1_2_2_63_1","doi-asserted-by":"publisher","DOI":"10.1109\/ICCA.2018.8444329"},{"key":"e_1_2_2_64_1","doi-asserted-by":"publisher","DOI":"10.1109\/ICICS.2009.5397569"},{"key":"e_1_2_2_65_1","unstructured":"Yunfei Ma Nicholas Selby and Fadel Adib. [n. d.]. Drone Relays for Battery-Free Networks. In SIGCOMM.  Yunfei Ma Nicholas Selby and Fadel Adib. [n. d.]. Drone Relays for Battery-Free Networks. In SIGCOMM."},{"key":"e_1_2_2_66_1","unstructured":"Rainer Mautz. 2012. Indoor positioning technologies. (2012).  Rainer Mautz. 2012. Indoor positioning technologies. (2012)."},{"key":"e_1_2_2_67_1","first-page":"160","article-title":"Ranging with simultaneous frames. (Nov. 5 2020)","volume":"16","author":"McLaughlin Michael","year":"2020","unstructured":"Michael McLaughlin and Jaroslaw Niewczas . 2020 . Ranging with simultaneous frames. (Nov. 5 2020) . US Patent App. 16\/761 , 160 . Michael McLaughlin and Jaroslaw Niewczas. 2020. Ranging with simultaneous frames. (Nov. 5 2020). US Patent App. 16\/761,160.","journal-title":"US Patent App."},{"key":"e_1_2_2_68_1","unstructured":"Microchip 2020. Datasheet: Microchip PL133-37 Low-Power 1.62V to 3.63V 1 MHz to 150 MHz Inverting 1:3 Fanout Buffer IC. Microchip. Revision A.  Microchip 2020. Datasheet: Microchip PL133-37 Low-Power 1.62V to 3.63V 1 MHz to 150 MHz Inverting 1:3 Fanout Buffer IC. Microchip. Revision A."},{"key":"e_1_2_2_69_1","doi-asserted-by":"publisher","DOI":"10.1145\/3274783.3274851"},{"key":"e_1_2_2_70_1","doi-asserted-by":"publisher","DOI":"10.1109\/ATEE.2019.8724907"},{"key":"e_1_2_2_71_1","doi-asserted-by":"publisher","DOI":"10.1109\/EuRAD.2014.6991261"},{"key":"e_1_2_2_72_1","volume-title":"An Accurate Indoor User Position Estimator For Multiple Anchor UWB Localization. In 2020 International Conference on Information and Communication Technology Convergence (ICTC). 478--482","author":"Poulose A.","year":"2020","unstructured":"A. Poulose , Z. Emersic , O. Steven Eyobu , and D. Seog Han . 2020 . An Accurate Indoor User Position Estimator For Multiple Anchor UWB Localization. In 2020 International Conference on Information and Communication Technology Convergence (ICTC). 478--482 . https:\/\/doi.org\/10.1109\/ICTC49870. 2020 .9289338 A. Poulose, Z. Emersic, O. Steven Eyobu, and D. Seog Han. 2020. An Accurate Indoor User Position Estimator For Multiple Anchor UWB Localization. In 2020 International Conference on Information and Communication Technology Convergence (ICTC). 478--482. https:\/\/doi.org\/10.1109\/ICTC49870.2020.9289338"},{"key":"e_1_2_2_73_1","volume-title":"Datasheet: Raspberry Pi Compute Module 3+","author":"Raspberry Pi","unstructured":"Raspberry Pi (Trading) Ltd 2019. Datasheet: Raspberry Pi Compute Module 3+ . Raspberry Pi (Trading) Ltd . Release 1. Raspberry Pi (Trading) Ltd 2019. Datasheet: Raspberry Pi Compute Module 3+. Raspberry Pi (Trading) Ltd. Release 1."},{"key":"e_1_2_2_74_1","doi-asserted-by":"publisher","DOI":"10.1109\/WiSNet.2013.6488616"},{"key":"e_1_2_2_75_1","doi-asserted-by":"publisher","DOI":"10.1109\/29.32276"},{"key":"e_1_2_2_76_1","doi-asserted-by":"publisher","DOI":"10.1109\/TAP.1986.1143830"},{"key":"e_1_2_2_77_1","doi-asserted-by":"publisher","DOI":"10.1145\/2307636.2307654"},{"key":"e_1_2_2_78_1","doi-asserted-by":"publisher","DOI":"10.2478\/aoa-2013-0019"},{"key":"e_1_2_2_79_1","doi-asserted-by":"publisher","DOI":"10.1145\/3448082"},{"key":"e_1_2_2_80_1","doi-asserted-by":"publisher","DOI":"10.1145\/3210240.3210347"},{"key":"e_1_2_2_81_1","unstructured":"STMicroelectronics 2019. Datasheet DS9826: STM32F072xB ARM\u00ae-based 32-bit MCU. STMicroelectronics. Revision 6.  STMicroelectronics 2019. Datasheet DS9826: STM32F072xB ARM\u00ae-based 32-bit MCU. STMicroelectronics. Revision 6."},{"key":"e_1_2_2_82_1","unstructured":"STMicroelectronics 2021. Datasheet DS10693: STM32F446xC\/E Arm Cortex-M4 32-bit MCU. STMicroelectronics. Revision 10.  STMicroelectronics 2021. Datasheet DS10693: STM32F446xC\/E Arm Cortex-M4 32-bit MCU. STMicroelectronics. Revision 10."},{"key":"e_1_2_2_83_1","doi-asserted-by":"publisher","DOI":"10.1109\/VETECS.2007.137"},{"key":"e_1_2_2_84_1","doi-asserted-by":"publisher","DOI":"10.1109\/IPIN.2016.7743707"},{"key":"e_1_2_2_85_1","doi-asserted-by":"publisher","DOI":"10.1109\/4234.552142"},{"key":"e_1_2_2_86_1","unstructured":"Deepak Vasisht Swarun Kumar and Dina Katabi. 2016. Decimeter-Level Localization with a Single Wi-Fi Access Point (NSDI).  Deepak Vasisht Swarun Kumar and Dina Katabi. 2016. Decimeter-Level Localization with a Single Wi-Fi Access Point (NSDI)."},{"key":"e_1_2_2_87_1","doi-asserted-by":"publisher","DOI":"10.1109\/SAHCN.2019.8824929"},{"key":"e_1_2_2_88_1","doi-asserted-by":"publisher","DOI":"10.1145\/3290605.3300248"},{"key":"e_1_2_2_89_1","doi-asserted-by":"crossref","unstructured":"Jue Wang and Dina Katabi. 2013. Dude Where's My Card?: RFID Positioning That Works with Multipath and Non-line of Sight (SIGCOMM).  Jue Wang and Dina Katabi. 2013. Dude Where's My Card?: RFID Positioning That Works with Multipath and Non-line of Sight (SIGCOMM).","DOI":"10.1145\/2486001.2486029"},{"key":"e_1_2_2_90_1","doi-asserted-by":"publisher","DOI":"10.1145\/2740070.2626330"},{"key":"e_1_2_2_91_1","doi-asserted-by":"publisher","DOI":"10.3390\/app10010057"},{"key":"e_1_2_2_92_1","doi-asserted-by":"publisher","DOI":"10.3390\/s17020341"},{"key":"e_1_2_2_93_1","volume-title":"An introduction to the kalman filter","author":"Welch Greg","unstructured":"Greg Welch and Gary Bishop . 1995. An introduction to the kalman filter . Chapel Hill, NC . Technical Report. USA, Tech. Rep . Greg Welch and Gary Bishop. 1995. An introduction to the kalman filter. Chapel Hill, NC. Technical Report. USA, Tech. Rep."},{"key":"e_1_2_2_94_1","doi-asserted-by":"publisher","DOI":"10.3390\/s17112522"},{"key":"e_1_2_2_95_1","volume-title":"An overview on integrated localization and communication towards 6G. arXiv preprint arXiv:2006.01535","author":"Xiao Zhiqiang","year":"2020","unstructured":"Zhiqiang Xiao and Yong Zeng . 2020. An overview on integrated localization and communication towards 6G. arXiv preprint arXiv:2006.01535 ( 2020 ). Zhiqiang Xiao and Yong Zeng. 2020. An overview on integrated localization and communication towards 6G. arXiv preprint arXiv:2006.01535 (2020)."},{"key":"e_1_2_2_96_1","volume-title":"mD-Track: Leveraging Multi-Dimensionality in Passive Indoor Wi-Fi Tracking. arXiv preprint arXiv:1812.03103","author":"Xie Yaxiong","year":"2018","unstructured":"Yaxiong Xie , Jie Xiong , Mo Li , and Kyle Jamieson . 2018. mD-Track: Leveraging Multi-Dimensionality in Passive Indoor Wi-Fi Tracking. arXiv preprint arXiv:1812.03103 ( 2018 ). Yaxiong Xie, Jie Xiong, Mo Li, and Kyle Jamieson. 2018. mD-Track: Leveraging Multi-Dimensionality in Passive Indoor Wi-Fi Tracking. arXiv preprint arXiv:1812.03103 (2018)."},{"key":"e_1_2_2_97_1","unstructured":"Jie Xiong and Kyle Jamieson. 2013. ArrayTrack: A Fine-grained Indoor Location System (NSDI).  Jie Xiong and Kyle Jamieson. 2013. ArrayTrack: A Fine-grained Indoor Location System (NSDI)."},{"key":"e_1_2_2_98_1","volume-title":"Synchronicity: Pushing the Envelope of Fine-grained Localization with Distributed Mimo. In HotWireless.","author":"Xiong Jie","year":"2014","unstructured":"Jie Xiong , Kyle Jamieson , and Karthikeyan Sundaresan . 2014 . Synchronicity: Pushing the Envelope of Fine-grained Localization with Distributed Mimo. In HotWireless. Jie Xiong, Kyle Jamieson, and Karthikeyan Sundaresan. 2014. Synchronicity: Pushing the Envelope of Fine-grained Localization with Distributed Mimo. In HotWireless."},{"key":"e_1_2_2_99_1","doi-asserted-by":"crossref","unstructured":"Jie Xiong Karthikeyan Sundaresan and Kyle Jamieson. 2015. ToneTrack: Leveraging Frequency-Agile Radios for Time-Based Indoor Wireless Localization (MobiCom ).  Jie Xiong Karthikeyan Sundaresan and Kyle Jamieson. 2015. ToneTrack: Leveraging Frequency-Agile Radios for Time-Based Indoor Wireless Localization (MobiCom ).","DOI":"10.1145\/2789168.2790125"},{"key":"e_1_2_2_100_1","doi-asserted-by":"publisher","DOI":"10.1109\/GLOCOM.2008.ECP.720"},{"key":"e_1_2_2_101_1","doi-asserted-by":"publisher","DOI":"10.1145\/2639108.2639111"},{"key":"e_1_2_2_102_1","doi-asserted-by":"publisher","DOI":"10.1109\/ICMA49215.2020.9233860"},{"key":"e_1_2_2_103_1","doi-asserted-by":"publisher","DOI":"10.1109\/WCSP.2019.8928120"},{"key":"e_1_2_2_104_1","doi-asserted-by":"publisher","DOI":"10.3390\/app10217834"},{"key":"e_1_2_2_105_1","volume-title":"UWB localization system for indoor applications: Concept, realization and analysis. Journal of Electrical and Computer Engineering 2012","author":"Zwirello Lukasz","year":"2012","unstructured":"Lukasz Zwirello , Tom Schipper , Marlene Harter , and Thomas Zwick . 2012. UWB localization system for indoor applications: Concept, realization and analysis. Journal of Electrical and Computer Engineering 2012 ( 2012 ). Lukasz Zwirello, Tom Schipper, Marlene Harter, and Thomas Zwick. 2012. UWB localization system for indoor applications: Concept, realization and analysis. Journal of Electrical and Computer Engineering 2012 (2012)."}],"container-title":["Proceedings of the ACM on Interactive, Mobile, Wearable and Ubiquitous Technologies"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/dl.acm.org\/doi\/10.1145\/3478124","content-type":"unspecified","content-version":"vor","intended-application":"text-mining"},{"URL":"https:\/\/dl.acm.org\/doi\/pdf\/10.1145\/3478124","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2025,6,17]],"date-time":"2025-06-17T19:31:33Z","timestamp":1750188693000},"score":1,"resource":{"primary":{"URL":"https:\/\/dl.acm.org\/doi\/10.1145\/3478124"}},"subtitle":["Low-Power, Scalable and cm-Accurate UWB-Tag Localization and Tracking for Indoor Applications"],"short-title":[],"issued":{"date-parts":[[2021,9,9]]},"references-count":105,"journal-issue":{"issue":"3","published-print":{"date-parts":[[2021,9,9]]}},"alternative-id":["10.1145\/3478124"],"URL":"https:\/\/doi.org\/10.1145\/3478124","relation":{},"ISSN":["2474-9567"],"issn-type":[{"value":"2474-9567","type":"electronic"}],"subject":[],"published":{"date-parts":[[2021,9,9]]},"assertion":[{"value":"2021-09-14","order":2,"name":"published","label":"Published","group":{"name":"publication_history","label":"Publication History"}}]}}