On the Precision of Single-Receiver Ultra-Wideband Tracking using Combined Distance and Angle of Arrival Measurement

Mobile robots must be able to operate independently of potentially unavailable external infrastructure, such as Global Navigation Satellite Systems. Ultra Wideband (UWB) enables relative positioning between two mobile objects. Current UWB Follow Me systems rely on multiple receivers for accurate positioning. This paper investigates a single UWB receiver and collects data from Angle of Arrival and joint distance measurements. Our experiment finds a small distance error of 3.8 centimeters and an angular position error of 0.26
^◦
, suggesting the suitability of single-receiver UWB for tracking in Follow Me applications.