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Program","award":["ZDSYS20210623092007023"],"award-info":[{"award-number":["ZDSYS20210623092007023"]}]}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["Sensors"],"abstract":"<jats:p>Nowadays, accurate localization plays an essential role in many fields, such as target tracking and path planning. The challenges of indoor localization include inadequate localization accuracy, unreasonable anchor deployment in complex scenarios, lack of stability, and the high cost. So, the universal positioning technologies cannot meet the real application requirements scarcely. To overcome these shortcomings, a comprehensive ultra wide-band (UWB)-based real-time localization system (RTLS) is presented in this paper. We introduce the architecture of a real-time localization system, then propose a new wireless clock synchronization (WCS) scheme, and finally discuss the time difference of arrival (TDoA) algorithm. We define the time-base selection strategy for the TDoA algorithm, and we analyze the relationship between anchor deployment and positioning accuracy. The extended Kalman filter (EKF) method is presented for non-linear dynamic localization estimation, and it performs well in terms of stability and accuracy on moving targets.<\/jats:p>","DOI":"10.3390\/s22124353","type":"journal-article","created":{"date-parts":[[2022,6,13]],"date-time":"2022-06-13T02:01:44Z","timestamp":1655085704000},"page":"4353","update-policy":"https:\/\/doi.org\/10.3390\/mdpi_crossmark_policy","source":"Crossref","is-referenced-by-count":22,"title":["Design and Implementation of Real-Time Localization System (RTLS) Based on UWB and TDoA Algorithm"],"prefix":"10.3390","volume":"22","author":[{"ORCID":"https:\/\/orcid.org\/0000-0001-8274-0616","authenticated-orcid":false,"given":"Fengyun","family":"Zhang","sequence":"first","affiliation":[{"name":"Shenzhen Key Laboratory of Safety and Security for Next Generation of Industrial Internet, Southern University of Science and Technology, Shenzhen 518055, China"},{"name":"Department of Computer Science and Engineering, Southern University of Science and Technology, Shenzhen 518055, China"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"ORCID":"https:\/\/orcid.org\/0000-0001-5017-2095","authenticated-orcid":false,"given":"Li","family":"Yang","sequence":"additional","affiliation":[{"name":"Army Engineering University of PLA, Nanjing 210000, China"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-7507-4579","authenticated-orcid":false,"given":"Yuhuan","family":"Liu","sequence":"additional","affiliation":[{"name":"Shenzhen Key Laboratory of Safety and Security for Next Generation of Industrial Internet, Southern University of Science and Technology, Shenzhen 518055, China"},{"name":"Department of Computer Science and Engineering, Southern University of Science and Technology, Shenzhen 518055, China"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-7159-5107","authenticated-orcid":false,"given":"Yulong","family":"Ding","sequence":"additional","affiliation":[{"name":"Academy for Advanced Interdisciplinary Studies, Southern University of Science and Technology, Shenzhen 518055, China"},{"name":"Shenzhen Key Laboratory of Safety and Security for Next Generation of Industrial Internet, Southern University of Science and Technology, Shenzhen 518055, China"},{"name":"Department of Computer Science and Engineering, Southern University of Science and Technology, Shenzhen 518055, China"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"ORCID":"https:\/\/orcid.org\/0000-0003-0717-5009","authenticated-orcid":false,"given":"Shuang-Hua","family":"Yang","sequence":"additional","affiliation":[{"name":"Shenzhen Key Laboratory of Safety and Security for Next Generation of Industrial Internet, Southern University of Science and Technology, Shenzhen 518055, China"},{"name":"Department of Computer Science and Engineering, Southern University of Science and Technology, Shenzhen 518055, China"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-0253-5733","authenticated-orcid":false,"given":"Hao","family":"Li","sequence":"additional","affiliation":[{"name":"Science and Technology on Near-Surface Detection Laboratory, Wuxi 214000, China"}],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"1968","published-online":{"date-parts":[[2022,6,8]]},"reference":[{"key":"ref_1","doi-asserted-by":"crossref","unstructured":"Alarifi, A., Al-Salman, A.S., Alsaleh, M., Alnafessah, A., Alhadhrami, S., Al-Ammar, M.A., and Al-Khalifa, H.S. 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