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In this paper, an effective indoor positioning system using Ultra-Wideband (UWB) technology with modified Kalman filter is proposed. The system includes several embedded hardware devices to transmit and receive data via UWB; a Kalman filter applies to reduce noise in the signal for increasing the accuracy; a software stacks to calculate the position using Time Difference of Arrival (TDOA) and trilateration algorithm, then store the data. The system also comes with a graphical user interface to monitor the data and control remotely.
Pham et al. (2022) studied this question.