Passive Exended Double-Sided Two-Way Ranging with Alternative Calculation

The practical necessity of object tracking is increasing in various application areas. The need for accurate positioning is growing as well; therefore more and more attempts are published aiming to improve the accuracy of positioning. This paper also presents a method to increase the accuracy even more of the previously published PE-ranging (passive extended double-sided two-way ranging) method. The hereby presented method utilizes the message sequence of PE-ranging but applies an alternative calculation of the position estimation to decrease the error originating from time measurement compared to the traditional calculation method. The presented positioning algorithm provides more accurate time measurement; therefore, the accuracy of positioning increases, and opposed to other methods, it does not require that the response times of the devices is close to equal. Moreover, the method allows using less accurate clocks in the tags, and more accurate clocks in the anchors of the positioning infrastructure.