Abstract
High-precision location services such as unmanned driving, indoor navigation, and mine positioning have been benefiting significantly with the breakthroughs in Fifth-Generation (5G) technology. This paper proposes a collaborative Time of Flight (TOF) measurement framework for 5G New Radio (NR) in Release 17 and Ultra-Wideband (UWB). The method proposed improves the positioning accuracy by tackling the issues of UWB clock offset and clock skew. To this end, we have designed an innovative correction algorithm that effectively utilizes 5G multipath measurement and Timing Error Group (TEG) identifiers. The algorithm employs a low-complexity iterative maximum likelihood estimation (MLE) method to accurately estimate error parameters and calibrate UWB TOF measurement results. Simulation results show that this algorithm significantly enhances positioning precision and robustness. It reduces positioning error by 24 % and 35 % compared to the baseline algorithm in two representative scenarios. These improvements make it suitable for UWB systems in real-time and complex environments.
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