In this paper we present a precise long range UWB localization system. Using the CRLB as a design tool, we first addressed the issue of range measurement data fusion. Fusion of synchronized range measurements can in general achieve a lower CRLB than averaging the position estimations from asynchronous base stations. Then we studied the optimum anchor geometry for TDOA based localization with correlated range measurement. A demonstration system was presented and positioning accuracy less than 10 cm can be achieved in a 30m×30m area.
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