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This paper introduces the ranging characterization, RTT measurement, and position estimation method. In particular, a particle filter localization method\u2010aided Lora pseudorange fitting correction is designed to solve the problem of indoor positioning; the cumulative distribution function (CDF) criteria are used to measure the quality of the estimated location in comparison to the ground truth location; when the positioning error on the <jats:italic>x<\/jats:italic>\u2010axis threshold is 0.2\u2009m and 0.6\u2009m, the CDF with pseudorange correction is 61% and 99%, which are higher than the 32% and 85% without pseudorange correction. When the positioning error on the <jats:italic>y<\/jats:italic>\u2010axis threshold is 0.2\u2009m and 0.6\u2009m, the CDF with pseudorange correction is 71% and 99.9%, which are higher than the 52% and 94.8% without pseudorange correction.<\/jats:p>","DOI":"10.1155\/2021\/5529329","type":"journal-article","created":{"date-parts":[[2021,3,4]],"date-time":"2021-03-04T04:35:09Z","timestamp":1614832509000},"update-policy":"https:\/\/doi.org\/10.1002\/crossmark_policy","source":"Crossref","is-referenced-by-count":5,"title":["Lora RTT Ranging Characterization and Indoor Positioning System"],"prefix":"10.1155","volume":"2021","author":[{"given":"Qiang","family":"Liu","sequence":"first","affiliation":[]},{"given":"XiuJun","family":"Bai","sequence":"additional","affiliation":[]},{"ORCID":"https:\/\/orcid.org\/0000-0003-1212-0715","authenticated-orcid":false,"given":"Xingli","family":"Gan","sequence":"additional","affiliation":[]},{"given":"Shan","family":"Yang","sequence":"additional","affiliation":[]}],"member":"311","published-online":{"date-parts":[[2021,3,3]]},"reference":[{"key":"e_1_2_10_1_2","doi-asserted-by":"publisher","DOI":"10.1109\/TITS.2020.3018377"},{"key":"e_1_2_10_2_2","doi-asserted-by":"publisher","DOI":"10.1109\/TII.2020.3024170"},{"key":"e_1_2_10_3_2","doi-asserted-by":"publisher","DOI":"10.1109\/TITS.2020.3009223"},{"key":"e_1_2_10_4_2","doi-asserted-by":"publisher","DOI":"10.1109\/TII.2019.2961659"},{"key":"e_1_2_10_5_2","doi-asserted-by":"publisher","DOI":"10.1016\/j.compag.2017.11.036"},{"key":"e_1_2_10_6_2","doi-asserted-by":"publisher","DOI":"10.1016\/j.compag.2017.06.004"},{"key":"e_1_2_10_7_2","doi-asserted-by":"publisher","DOI":"10.1109\/ACCESS.2020.2973212"},{"key":"e_1_2_10_8_2","doi-asserted-by":"publisher","DOI":"10.3390\/s19102300"},{"key":"e_1_2_10_9_2","doi-asserted-by":"publisher","DOI":"10.1155\/2018\/8740872"},{"key":"e_1_2_10_10_2","doi-asserted-by":"publisher","DOI":"10.1109\/JPROC.2008.2008786"},{"key":"e_1_2_10_11_2","doi-asserted-by":"publisher","DOI":"10.1109\/TMTT.2008.923351"},{"key":"e_1_2_10_12_2","doi-asserted-by":"publisher","DOI":"10.1109\/ACCESS.2019.2948034"},{"key":"e_1_2_10_13_2","doi-asserted-by":"publisher","DOI":"10.3390\/s19204580"},{"key":"e_1_2_10_14_2","doi-asserted-by":"publisher","DOI":"10.3390\/s19204420"},{"key":"e_1_2_10_15_2","doi-asserted-by":"publisher","DOI":"10.3390\/s20247269"},{"key":"e_1_2_10_16_2","doi-asserted-by":"publisher","DOI":"10.1109\/ACCESS.2020.3029847"},{"key":"e_1_2_10_17_2","doi-asserted-by":"publisher","DOI":"10.3390\/s20030648"},{"key":"e_1_2_10_18_2","doi-asserted-by":"publisher","DOI":"10.3390\/electronics9081193"},{"key":"e_1_2_10_19_2","doi-asserted-by":"publisher","DOI":"10.1109\/MEMC.2012.6347063"},{"key":"e_1_2_10_20_2","unstructured":"ARIB Homepage http:\/\/arib.or.jp\/english\/html\/overview\/doc\/5-STD-T66v2_1-E.pdf."},{"key":"e_1_2_10_21_2","doi-asserted-by":"publisher","DOI":"10.3390\/s20143828"},{"key":"e_1_2_10_22_2","unstructured":"HuynhT.andBrennanC. 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