I. Introduction
DW1000 [1], [2] integrated circuit (IC) represents a fully coherent implementation of the IEEE 802.15.4a [3] ultrawideband (UWB) physical layer (PHY), which is currently integrated in the IEEE 802.15.4-2015 standard [4]. The impulse nature of this PHY along with its large bandwidth allow for precise real-time localization system (RTLS) implementation based on the DW1000 IC.