{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,8,26]],"date-time":"2026-08-26T15:18:42Z","timestamp":1787757522552,"version":"build-2784847793"},"reference-count":85,"publisher":"Association for Computing Machinery (ACM)","issue":"2","license":[{"start":{"date-parts":[[2024,5,13]],"date-time":"2024-05-13T00:00:00Z","timestamp":1715558400000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/creativecommons.org\/licenses\/by\/4.0\/"}],"funder":[{"DOI":"10.13039\/501100006374","name":"National Natural Science Foundation of China","doi-asserted-by":"publisher","award":["No.62172394, No.62072450"],"award-info":[{"award-number":["No.62172394, No.62072450"]}],"id":[{"id":"10.13039\/501100006374","id-type":"DOI","asserted-by":"publisher"}]},{"name":"Beijing Natural Science Foundation","award":["L223034"],"award-info":[{"award-number":["L223034"]}]},{"DOI":"10.13039\/501100005090","name":"Beijing Nova Program","doi-asserted-by":"crossref","id":[{"id":"10.13039\/501100005090","id-type":"DOI","asserted-by":"crossref"}]},{"name":"outh Innovation Promotion Association, Chinese Academy of Sciences","award":["No. 2020109"],"award-info":[{"award-number":["No. 2020109"]}]}],"content-domain":{"domain":["dl.acm.org"],"crossmark-restriction":true},"short-container-title":["Proc. ACM Interact. Mob. Wearable Ubiquitous Technol."],"published-print":{"date-parts":[[2024,5,13]]},"abstract":"<jats:p>Ranging plays a crucial role in many wireless sensing applications. Among the wireless techniques employed for ranging, Ultra-Wideband (UWB) has received much attention due to its excellent performance and widespread integration into consumer-level electronics. However, the ranging accuracy of the current UWB systems is limited to the centimeter level due to bandwidth limitation, hindering their use for applications that require a very high resolution. This paper proposes a novel system that achieves sub-millimeter-level ranging accuracy on commercial UWB devices for the first time. Our approach leverages the fine-grained phase information of commercial UWB devices. To eliminate the phase drift, we design a fine-grained phase recovery method by utilizing the bi-directional messages in UWB two-way ranging. We further present a dual-frequency switching method to resolve phase ambiguity. Building upon this, we design and implement the ranging system on commercial UWB modules. Extensive experiments demonstrate that our system achieves a median ranging error of just 0.77 mm, reducing the error by 96.54% compared to the state-of-the-art method. We also present three real-life applications to showcase the fine-grained sensing capabilities of our system, including i) smart speaker control, ii) free-style user handwriting, and iii) 3D tracking for virtual-reality (VR) controllers.<\/jats:p>","DOI":"10.1145\/3659602","type":"journal-article","created":{"date-parts":[[2024,5,15]],"date-time":"2024-05-15T12:20:41Z","timestamp":1715775641000},"page":"1-27","update-policy":"https:\/\/doi.org\/10.1145\/crossmark-policy","source":"Crossref","is-referenced-by-count":21,"title":["Push the Limit of Highly Accurate Ranging on Commercial UWB Devices"],"prefix":"10.1145","volume":"8","author":[{"ORCID":"https:\/\/orcid.org\/0000-0002-7096-1531","authenticated-orcid":false,"given":"Junqi","family":"Ma","sequence":"first","affiliation":[{"name":"Key Laboratory of System Software (Chinese Academy of Sciences) and State Key Laboratory of Computer Science, Institute of Software, Chinese Academy of Sciences and University of Chinese Academy of Sciences, Beijing, China"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-2529-8021","authenticated-orcid":false,"given":"Fusang","family":"Zhang","sequence":"additional","affiliation":[{"name":"Key Laboratory of System Software (Chinese Academy of Sciences) and State Key Laboratory of Computer Science, Institute of Software, Chinese Academy of Sciences and University of Chinese Academy of Sciences, Beijing, China"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0000-0003-3683-4034","authenticated-orcid":false,"given":"Beihong","family":"Jin","sequence":"additional","affiliation":[{"name":"Key Laboratory of System Software (Chinese Academy of Sciences) and State Key Laboratory of Computer Science, Institute of Software, Chinese Academy of Sciences and University of Chinese Academy of Sciences, Beijing, China"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-6965-8201","authenticated-orcid":false,"given":"Chang","family":"Su","sequence":"additional","affiliation":[{"name":"Key Laboratory of System Software (Chinese Academy of Sciences) and State Key Laboratory of Computer Science, Institute of Software, Chinese Academy of Sciences and University of Chinese Academy of Sciences, Beijing, China"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0000-0003-2022-3191","authenticated-orcid":false,"given":"Siheng","family":"Li","sequence":"additional","affiliation":[{"name":"Key Laboratory of System Software (Chinese Academy of Sciences) and State Key Laboratory of Computer Science, Institute of Software, Chinese Academy of Sciences and University of Chinese Academy of Sciences, Beijing, China"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-9913-8119","authenticated-orcid":false,"given":"Zhi","family":"Wang","sequence":"additional","affiliation":[{"name":"Key Laboratory of System Software (Chinese Academy of Sciences) and State Key Laboratory of Computer Science, Institute of Software, Chinese Academy of Sciences and University of Chinese Academy of Sciences, Beijing, China"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-0126-6324","authenticated-orcid":false,"given":"Jiazhi","family":"Ni","sequence":"additional","affiliation":[{"name":"Localization Technology Department, Tencent Inc., China"}],"role":[{"vocabulary":"crossref","role":"author"}]}],"member":"320","published-online":{"date-parts":[[2024,5,15]]},"reference":[{"key":"e_1_2_1_1_1","unstructured":"2023. Jiuling S1 Pro. https:\/\/www.aliexpress.com\/i\/1005004399526480.html."},{"key":"e_1_2_1_2_1","doi-asserted-by":"publisher","DOI":"10.1145\/3495243.3560530"},{"key":"e_1_2_1_3_1","volume-title":"Martin Nordal Petersen, and Sarah Ruepp.","author":"Andersen Frederik Rander","year":"2020","unstructured":"Frederik Rander Andersen, Kalpit Dilip Ballal, Martin Nordal Petersen, and Sarah Ruepp. 2020. Ranging Capabilities of LoRa 2.4 GHz. In 2020 IEEE 6th World Forum on Internet of Things (WF-IoT). IEEE, 1--5."},{"key":"e_1_2_1_4_1","unstructured":"Apple. 2019. iPhone 13. https:\/\/www.apple.com\/iphone-13\/key-features\/."},{"key":"e_1_2_1_5_1","unstructured":"Apple. 2020. Apple Watch Series 6. https:\/\/www.apple.com\/lae\/apple-watch-series-6\/."},{"key":"e_1_2_1_6_1","unstructured":"Apple. 2021. AirTag. https:\/\/www.apple.com\/airtag\/."},{"key":"e_1_2_1_7_1","unstructured":"Apple. 2021. Apple Find My. https:\/\/www.apple.com\/icloud\/find-my\/."},{"key":"e_1_2_1_8_1","unstructured":"Apple. 2021. Apple Homepod. https:\/\/www.apple.com\/homepod\/."},{"key":"e_1_2_1_9_1","unstructured":"Apple. 2023. 3db Access. https:\/\/www.3db-access.com\/."},{"key":"e_1_2_1_10_1","unstructured":"Apple. 2023. iOS nearby interactions. https:\/\/developer.apple.com\/nearby-interaction\/."},{"key":"e_1_2_1_11_1","doi-asserted-by":"publisher","DOI":"10.1109\/IDAACS-SWS.2014.6954616"},{"key":"e_1_2_1_12_1","doi-asserted-by":"publisher","DOI":"10.1145\/3498361.3538658"},{"key":"e_1_2_1_13_1","volume-title":"Proceedings of ACM Conference on Embedded Networked Sensor Systems (ACM SenSys'23)","author":"Arun Aditya","year":"2023","unstructured":"Aditya Arun, Shunsuke Saruwatari, Sureel Shah, and Dinesh Bharadia. 2023. XRLoc: Accurate UWB Localization for XR Systems. In Proceedings of ACM Conference on Embedded Networked Sensor Systems (ACM SenSys'23)."},{"key":"e_1_2_1_14_1","doi-asserted-by":"publisher","DOI":"10.1145\/3372224.3380894"},{"key":"e_1_2_1_15_1","unstructured":"Calterh. 2017. Calterh Semiconductor Technology. https:\/\/www.calterah.com\/."},{"key":"e_1_2_1_16_1","doi-asserted-by":"publisher","DOI":"10.1109\/ICNP49622.2020.9259374"},{"key":"e_1_2_1_17_1","doi-asserted-by":"publisher","DOI":"10.1145\/3458864.3467885"},{"key":"e_1_2_1_18_1","doi-asserted-by":"publisher","DOI":"10.1109\/78.301830"},{"key":"e_1_2_1_19_1","doi-asserted-by":"publisher","DOI":"10.1109\/MCOM.007.2200347"},{"key":"e_1_2_1_20_1","doi-asserted-by":"publisher","DOI":"10.1145\/3610902"},{"key":"e_1_2_1_21_1","doi-asserted-by":"publisher","DOI":"10.1145\/3494977"},{"key":"e_1_2_1_22_1","doi-asserted-by":"publisher","DOI":"10.1109\/TMC.2021.3073969"},{"key":"e_1_2_1_23_1","doi-asserted-by":"publisher","DOI":"10.1109\/UWBST.2003.1267870"},{"key":"e_1_2_1_24_1","unstructured":"FiRa Consortium. 2023. FiRa UWB Consortium. https:\/\/www.firaconsortium.org\/."},{"key":"e_1_2_1_25_1","volume-title":"16th USENIX Symposium on Networked Systems Design and Implementation (NSDI 19)","author":"Dhekne Ashutosh","year":"2019","unstructured":"Ashutosh Dhekne, Ayon Chakraborty, Karthikeyan Sundaresan, and Sampath Rangarajan. 2019. {TrackIO}: Tracking First Responders {Inside-Out}. In 16th USENIX Symposium on Networked Systems Design and Implementation (NSDI 19). 751--764."},{"key":"e_1_2_1_26_1","doi-asserted-by":"publisher","DOI":"10.1145\/3210240.3210345"},{"key":"e_1_2_1_27_1","doi-asserted-by":"publisher","DOI":"10.1109\/WPNC.2018.8555809"},{"key":"e_1_2_1_28_1","doi-asserted-by":"publisher","DOI":"10.1109\/JSAC.2015.2430281"},{"key":"e_1_2_1_29_1","unstructured":"Google. 2021. Google Pixel 6 Pro. https:\/\/store.google.com\/gb\/category\/phones?hl=en-GB."},{"key":"e_1_2_1_30_1","unstructured":"Google. 2021. WLAN RTT(IEEE 802.11mc). https:\/\/source.android.com\/docs\/core\/connect\/wifi-rtt."},{"key":"e_1_2_1_31_1","unstructured":"Google. 2023. UWB support for android. https:\/\/developer.android.com\/develop\/connectivity\/uwb."},{"key":"e_1_2_1_32_1","volume-title":"14th USENIX Symposium on Networked Systems Design and Implementation (NSDI 17)","author":"Gowda Mahanth","year":"2017","unstructured":"Mahanth Gowda, Ashutosh Dhekne, Sheng Shen, Romit Roy Choudhury, Lei Yang, Suresh Golwalkar, and Alexander Essanian. 2017. Bringing {IoT} to sports analytics. In 14th USENIX Symposium on Networked Systems Design and Implementation (NSDI 17). 499--513."},{"key":"e_1_2_1_33_1","doi-asserted-by":"publisher","DOI":"10.1145\/3302506.3310389"},{"key":"e_1_2_1_34_1","volume-title":"Symmetric double side two way ranging","author":"Hach Rainer","year":"2005","unstructured":"Rainer Hach. 2005. Symmetric double side two way ranging. IEEE 802.15 WPAN Documents, 15-05-0334-r00 (2005)."},{"key":"e_1_2_1_35_1","doi-asserted-by":"publisher","DOI":"10.1109\/PerCom45495.2020.9127363"},{"key":"e_1_2_1_36_1","unstructured":"HTC. 2016. Htc Vive VR. https:\/\/www.vive.com\/us\/."},{"key":"e_1_2_1_37_1","doi-asserted-by":"publisher","DOI":"10.1145\/3495243.3517021"},{"key":"e_1_2_1_38_1","doi-asserted-by":"publisher","DOI":"10.1145\/3241539.3241555"},{"key":"e_1_2_1_39_1","unstructured":"IEEE. 2020. IEEE 802.15.4-2020-IEEE Standard for Low-Rate Wireless Networks. https:\/\/standards.ieee.org\/ieee\/802.15.4\/7029\/."},{"key":"e_1_2_1_40_1","unstructured":"Texas Instruments. 2020. Texas Instruments IWR1642: Single-chip 76-GHz to 81-GHz mmWave sensor integrating DSP and MCU. http:\/\/www.ti.com\/product\/IWR1642."},{"key":"e_1_2_1_41_1","doi-asserted-by":"publisher","DOI":"10.1109\/INFOCOM41043.2020.9155464"},{"key":"e_1_2_1_42_1","volume-title":"principles and applications","author":"Kaplan Elliott D","unstructured":"Elliott D Kaplan and Christopher Hegarty. 2017. Understanding GPS\/GNSS: principles and applications. Artech house."},{"key":"e_1_2_1_43_1","doi-asserted-by":"publisher","DOI":"10.1145\/2994551.2994570"},{"key":"e_1_2_1_44_1","first-page":"644","article-title":"System, method, and circuit for distance measurement between two nodes of a radio network","volume":"8","author":"Kluge Wolfram","year":"2014","unstructured":"Wolfram Kluge and Eric Sachse. 2014. System, method, and circuit for distance measurement between two nodes of a radio network. US Patent 8,644,768.","journal-title":"US Patent"},{"key":"e_1_2_1_45_1","doi-asserted-by":"publisher","DOI":"10.1145\/2785956.2787487"},{"key":"e_1_2_1_46_1","doi-asserted-by":"publisher","DOI":"10.3390\/s23052595"},{"key":"e_1_2_1_47_1","doi-asserted-by":"publisher","DOI":"10.1109\/RWS.2010.5434259"},{"key":"e_1_2_1_48_1","doi-asserted-by":"publisher","DOI":"10.1145\/3313831.3376698"},{"key":"e_1_2_1_49_1","doi-asserted-by":"publisher","DOI":"10.1145\/3495243.3558745"},{"key":"e_1_2_1_50_1","doi-asserted-by":"publisher","DOI":"10.1109\/IWSSIP.2015.7314177"},{"key":"e_1_2_1_51_1","doi-asserted-by":"publisher","DOI":"10.1145\/2973750.2973755"},{"key":"e_1_2_1_52_1","doi-asserted-by":"publisher","DOI":"10.1145\/3300061.3345439"},{"key":"e_1_2_1_53_1","unstructured":"Microsoft. 2016. Microsoft HoloLens. https:\/\/www.microsoft.com\/en-us\/hololens."},{"key":"e_1_2_1_54_1","doi-asserted-by":"publisher","DOI":"10.1109\/WPNC.2016.7822844"},{"key":"e_1_2_1_55_1","doi-asserted-by":"publisher","DOI":"10.1145\/3495243.3560546"},{"key":"e_1_2_1_56_1","unstructured":"Novelda. 2021. ThinkPad X1 Nano embedded with NOVELDA UWB sensor. https:\/\/novelda.com\/solutions\/consumer-electronics."},{"key":"e_1_2_1_57_1","unstructured":"NXP. 2021. NXP SR150. https:\/\/www.nxp.com\/products\/wireless\/secure-ultra-wideband-uwb\/trimension-sr150-secure-uwb-solution-for-iot-devices:SR150."},{"key":"e_1_2_1_58_1","doi-asserted-by":"publisher","DOI":"10.1063\/1.4822961"},{"key":"e_1_2_1_59_1","unstructured":"Qorvo. 2016. DW1000 Soft API Guide. https:\/\/www.qorvo.com\/products\/d\/da008000."},{"key":"e_1_2_1_60_1","unstructured":"Qorvo. 2016. DW1000 User Manual. https:\/\/www.qorvo.com\/products\/d\/da007967."},{"key":"e_1_2_1_61_1","unstructured":"Qorvo. 2021. DW3000 UWB module. https:\/\/www.qorvo.com\/products\/p\/DWM3000."},{"key":"e_1_2_1_62_1","unstructured":"Samsung. 2020. Samsung Galaxy Note 20. https:\/\/www.samsung.com\/us\/smartphones\/galaxy-canvas\/."},{"key":"e_1_2_1_63_1","unstructured":"Samsung. 2021. Galaxy SmartTag2. https:\/\/www.samsung.com\/us\/mobile\/mobile-accessories\/phones\/galaxy-smarttag2-black-ei-t5600bbegus\/."},{"key":"e_1_2_1_64_1","volume-title":"13th USENIX Symposium on Networked Systems Design and Implementation (NSDI 16)","author":"Vasisht Deepak","year":"2016","unstructured":"Deepak Vasisht, Swarun Kumar, and Dina Katabi. 2016. {Decimeter-Level} localization with a single {WiFi} access point. In 13th USENIX Symposium on Networked Systems Design and Implementation (NSDI 16). 165--178."},{"key":"e_1_2_1_65_1","doi-asserted-by":"publisher","DOI":"10.1109\/INFOCOM.2016.7524540"},{"key":"e_1_2_1_66_1","doi-asserted-by":"publisher","DOI":"10.1145\/3290605.3300248"},{"key":"e_1_2_1_67_1","volume-title":"Scalar: Self-calibrated acoustic ranging for distributed mobile devices","author":"Wang Lei","year":"2023","unstructured":"Lei Wang, Haoran Wan, Ting Zhao, Ke Sun, Shuyu Shi, Haipeng Dai, Guihai Chen, Haodong Liu, and Wei Wang. 2023. Scalar: Self-calibrated acoustic ranging for distributed mobile devices. IEEE Transactions on Mobile Computing (2023)."},{"key":"e_1_2_1_68_1","first-page":"4","volume-title":"Proceedings of the ACM on Iples and applications 6","author":"Wang Zhi","year":"2023","unstructured":"Zhi Wang, Beihong Jin, Siheng Li, Fusang Zhang, and Wenbo Zhang. 2023. ECG-grained Cardiac Monitoring Using UWB Signals. Proceedings of the ACM on Iples and applications 6, 4 (2023), 1--25."},{"key":"e_1_2_1_69_1","doi-asserted-by":"publisher","DOI":"10.1145\/2789168.2790113"},{"key":"e_1_2_1_70_1","doi-asserted-by":"publisher","DOI":"10.1145\/3351270"},{"key":"e_1_2_1_71_1","unstructured":"Xiaomi. 2021. Xiaomi Mix4. https:\/\/www.mi.com\/mix4."},{"key":"e_1_2_1_72_1","unstructured":"Xiaomi. 2021. Xiaomi Sound. https:\/\/www.mi.com\/mispeaker\/sound."},{"key":"e_1_2_1_73_1","doi-asserted-by":"publisher","DOI":"10.1145\/2789168.2790124"},{"key":"e_1_2_1_74_1","doi-asserted-by":"publisher","DOI":"10.1145\/2789168.2790125"},{"key":"e_1_2_1_75_1","doi-asserted-by":"crossref","first-page":"1","DOI":"10.1145\/3550286","article-title":"VULoc: Accurate UWB localization for countless targets without synchronization","volume":"6","author":"Yang Jing","year":"2022","unstructured":"Jing Yang, BaiShun Dong, and Jiliang Wang. 2022. VULoc: Accurate UWB localization for countless targets without synchronization. Proceedings of the ACM on Interactive, Mobile, Wearable and Ubiquitous Technologies 6, 3 (2022), 1--25.","journal-title":"Proceedings of the ACM on Interactive, Mobile, Wearable and Ubiquitous Technologies"},{"key":"e_1_2_1_76_1","doi-asserted-by":"publisher","DOI":"10.1109\/SECON55815.2022.9918170"},{"key":"e_1_2_1_77_1","doi-asserted-by":"publisher","DOI":"10.1109\/COMPSAC.2019.00124"},{"key":"e_1_2_1_78_1","doi-asserted-by":"publisher","DOI":"10.1145\/3351279"},{"key":"e_1_2_1_79_1","doi-asserted-by":"publisher","DOI":"10.1145\/3596237"},{"key":"e_1_2_1_80_1","doi-asserted-by":"publisher","DOI":"10.1145\/3369839"},{"key":"e_1_2_1_81_1","doi-asserted-by":"publisher","DOI":"10.1145\/3495243.3560518"},{"key":"e_1_2_1_82_1","doi-asserted-by":"publisher","DOI":"10.1145\/3191785"},{"key":"e_1_2_1_83_1","doi-asserted-by":"publisher","DOI":"10.1145\/3570505"},{"key":"e_1_2_1_84_1","doi-asserted-by":"crossref","first-page":"1","DOI":"10.1145\/3478124","article-title":"Uloc: Low-power, scalable and cm-accurate uwb-tag localization and tracking for indoor applications","volume":"5","author":"Zhao Minghui","year":"2021","unstructured":"Minghui Zhao, Tyler Chang, Aditya Arun, Roshan Ayyalasomayajula, Chi Zhang, and Dinesh Bharadia. 2021. Uloc: Low-power, scalable and cm-accurate uwb-tag localization and tracking for indoor applications. Proceedings of the ACM on Interactive, Mobile, Wearable and Ubiquitous Technologies 5, 3 (2021), 1--31.","journal-title":"Proceedings of the ACM on Interactive, Mobile, Wearable and Ubiquitous Technologies"},{"key":"e_1_2_1_85_1","doi-asserted-by":"publisher","DOI":"10.1109\/LAWP.2012.2186110"}],"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\/3659602","content-type":"unspecified","content-version":"vor","intended-application":"text-mining"},{"URL":"https:\/\/dl.acm.org\/doi\/pdf\/10.1145\/3659602","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2025,8,22]],"date-time":"2025-08-22T17:02:50Z","timestamp":1755882170000},"score":1,"resource":{"primary":{"URL":"https:\/\/dl.acm.org\/doi\/10.1145\/3659602"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2024,5,13]]},"references-count":85,"journal-issue":{"issue":"2","published-print":{"date-parts":[[2024,5,13]]}},"alternative-id":["10.1145\/3659602"],"URL":"https:\/\/doi.org\/10.1145\/3659602","relation":{},"ISSN":["2474-9567"],"issn-type":[{"value":"2474-9567","type":"electronic"}],"subject":[],"published":{"date-parts":[[2024,5,13]]},"assertion":[{"value":"2024-05-15","order":3,"name":"published","label":"Published","group":{"name":"publication_history","label":"Publication History"}}]}}