In this paper, an Ultra-Wideband (UWB) positioning system is introduced, that leverages six identical custom-designed boards, each featuring an ESP32 microcontroller and a DWM3000 module from Quorvo. The system is capable of achieving localization with an accuracy of up to 10 cm, by utilizing Two-Way-Ranging (TWR) measurements between one designated tag and five anchor devices. The gathered distance measurements are subsequently processed by an Extended Kalman Filter (EKF) running locally on the tag board, enabling it to determine its own position, relying on fixed, a priori known positions of the anchor boards. This paper presents a comprehensive overview of the systems architecture, the key components, and the capabilities it offers for indoor positioning and tracking applications.

翻译：本文介绍了一种超宽带（UWB）定位系统，该系统采用六块相同的定制设计电路板，每块电路板均集成ESP32微控制器与Qorvo公司的DWM3000模块。通过在一个指定标签与五个锚点设备之间采用双向测距（TWR）技术，该系统能够实现高达10厘米的定位精度。所采集的距离测量数据随后由标签板本地运行的扩展卡尔曼滤波器（EKF）进行处理，从而基于已知的锚点板固定位置自主确定自身位置。本文全面阐述了该系统的架构、关键组件及其在室内定位与跟踪应用中的功能特性。