Two Way Ranging Positioning Methods Analysis Under Optimized Sensor Deployments

Two Way Ranging (TWR) protocol has been proposed for attaining precise ranging in low-range communications. It particularly excels in indoor industrial scenarios by using Ultra-Wideband technology under two different positioning methods: Single-Sided TWR (SS-TWR) and Symmetric Double-Sided TWR (SDS-TWR). In this paper, we demonstrate, in an industrial dense obstacle scenario, that although recent literature comparisons between these two methods have shown that the SDS-TWR method outperforms the SS-TWR method considering clock-related errors, the SS-TWR can attain better positioning results when adding path-related errors such as noise and multipath.