Real-time UWB indoor positioning system with millimeter 3-D dynamic accuracy

A real-time UWB positioning system has been developed which has dynamic 3D accuracy of better than 6 mm and static 3D accuracy of 3-4 mm. This accuracy is an order of magnitude higher than currently available commercial UWB tracking systems and opens up new applications for indoor wireless positioning including robot tracking, patient monitoring, and tracking during computer assisted surgeries. 3D experimental results are included for both dynamic and static real-time experiments using an optical tracking system with 3D accuracy of 0.3 mm as a gold standard for reference.