In this study, the authors present a novel geometrically driven multilateration technique that is based on ultra-wideband\ud(UWB) technology. The authors refer to their proposed solution as time reflection of arrival (TROA). They demonstrate in this\udstudy how the position estimation error is improved upon by carefully considering the inherent properties of the UWB technology\udand the reflection properties of transmitted UWB signals. By a direct comparison between TROA and two widely used\udmultilateration techniques, the authors show that indoor position estimation can be done much more effectively using their\udproposed solution. They also derive a new Cramér–Rao lower bound for TROA multilateration and use it to show its level\udof efficiency.
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