ULoc: Low-Power, Scalable and cm-Accurate UWB-Tag Localization and Tracking for Indoor Applications
summary
ULoc builds a tiny beacon-only tag and custom 8-antenna L-shaped anchor that measures 3D angle-of-arrival from a single reception, enabling single-packet localization that cuts latency by ≥3× and reduces tag energy per fix by 9× versus TWR. The system uses UWB transceivers and a multipath-robust tracker, achieves 3.6 cm stationary accuracy and ~10 cm median tracking error (8 cm median, 18 cm 90th in a VR controller test), and is open source.
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