A TOF Localization Algorithm Based on Improved Double-sided Two Way Ranging

TOF (Time of Fight, TOF) positioning requires Double-sided Two Way Ranging to achieve triangulation positioning. At present, the main disadvantage of TOF is that it requires multiple distance measurements, resulting in slow positioning speeds. So an improved Double-sided Two Way Ranging method is proposed for this problem. The measurement of distance difference can be used to measure the distance from a mobile node to multiple fixed reference nodes with only one ranging, thereby improving the TOF positioning speed. UWB (Ultra-wideband, UWB) positioning experiment platform is designed, and ranging test verification and accuracy testing is completed. After testing, the positioning accuracy has reached the decimeter level. This method improves the positioning speed of traditional TOF positioning and has a good application prospect.