Distributed TDMA for Mobile UWB Network Localization

Many applications related to the Internet of Things, such as tracking people or objects, robotics, and monitoring require localization large networks devices in dynamic, GPS-denied environments. Ultrawideband (UWB) technology is a common choice because its precise ranging capability. However, allowing access effective use shared UWB medium with constantly changing set faces some particular challenges: high frequency measurements by improve system accuracy; network topology changes requiring rapid adaptation; decentralized operation avoid single points failure. In this article, we propose novel time-division multiple (TDMA) algorithm that can quickly schedule without collisions local neighborhoods avoiding conflicts hidden terminals, all while maximizing usage. Using exclusively radio network, realize for synchronization, dynamic TDMA scheduling, relative positioning on multihop network. Our does not have special nodes (all are equal) it sufficiently scalable real-world applications. method be applied implement device services spaces GPS complex topologies, malls, museums, mines, etc. We demonstrate our simulation real hardware an underground parking lot, showing effectiveness localization.