###### Abstract  
UWB has been in existence for several years, but it was only a few years ago that it transitioned from a specialized niche to more mainstream applications. Recent market data indicate a rapid increase in the popularity of UWB in consumer products, such as smartphones and smart home devices, as well as automotive and industrial real-time location systems. The challenge of achieving accurate positioning in indoor environments arises from various factors such as distance, location, beacon density, dynamic surroundings, and the density and type of obstacles. This research used MFI-certified UWB beacon chipsets and integrated them with a mobile application dedicated to iOS by implementing the near interaction accessory protocol. The analysis covers both static and dynamic cases. Thanks to the acquisition of measurements, two main candidates for indoor localization infrastructure were analyzed and compared in terms of accuracy, namely UWB and LIDAR, with the latter used as a reference system. The problem of achieving accurate positioning in various applications and environments was analyzed, and future solutions were proposed. The results show that the achieved accuracy is sufficient for tracking individuals and may serve as guidelines for achievable accuracy or may provide a basis for further research into a complex sensor fusion-based navigation system. This research provides several findings. Firstly, in dynamic conditions, LIDAR measurements showed higher accuracy than UWB beacons. Secondly, integrating data from multiple sensors could enhance localization accuracy in non-line-of-sight scenarios. Lastly, advancements in UWB technology may expand the availability of competitive hardware, facilitating a thorough evaluation of its accuracy and effectiveness in practical systems. These insights may be particularly useful in designing navigation systems for blind individuals in buildings. indoor navigation system; UWB software; UWB beacons; assistive technology; visually impaired people +
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However, most commercial solutions in these categories have not yet gained significant popularity. In the market, issues arise due to insufficient accuracy and feasibility barriers, including the necessity for physical sensor infrastructure [9; 10]. Existing positioning technologies such as Bluetooth Low Energy (BLE), GPS, and Wi-Fi encounter numerous limitations that reduce their effectiveness [11; 12]. In indoor settings, the utility of GPS or comparable satellite positioning systems is constrained by the necessity for line-of-sight (LoS) technology for satellite connectivity [13]. Therefore, ultra-wideband (UWB) technology is emerging as a possible solution that not only overcomes these challenges but also opens up the potential to provide a much more precise, reliable indoor location and navigation system than what is currently possible with BLE [14]. Nowadays, leading smartphones feature UWB integration to facilitate secure access and tailored user interfaces. By the year 2021, UWB technology was embedded in more than 300 million smartphones, marking an adoption rate of roughly 20%. The UWB standard is expected to be gradually incorporated into all smartphones over the next 5 to 10 years, reflecting a market potential of 1.5 billion devices annually [15]. As pointed out by MarketsandMarkets, a key catalyst for the rising preference toward UWB technology will stem from the proliferation of UWB-enabled devices. ABI Research predicts that the collective sales of all UWB-enabled devices globally will surge from 109 million devices in 2019 to surpass 1 billion devices by 2025 [16]. In total, an estimated 3.6 billion UWB-enabled devices are estimated to have been shipped worldwide by 2025. The UWB market is expected to experience double-digit growth shortly [17; 18].