# UWB-Based Real-Time Indoor Positioning Systems: A Comprehensive Review
## 6 Results
\begin{table}
\begin{tabular}{p{42.7 pt} p{42.7 pt} p{42.7 pt} p{42.7 pt} p{42.7 pt} p{42.7 pt} p{42.7 pt} p{42.7 pt} p{42.7 pt} p{42.7 pt}} \hline \hline
**Topology** & **UWB Chip/Module** & **Multi-Sensor** & **UWB Frequency/ Channel** & **Optimization Algorithm/Filter** & **Application** & **Improvement (5\%/ Accuracy (cm))** & **Monitoring** & **Reference No, Year** \\ \hline TWR-TDoA & DW1000 & UWB & 3.5–6.5 GHz & MFGA & RTLS & 11.21 cm & Python & [159] 2022 \\ \hline TDoA & DW1000 & UWB & 3.5–6.5 GHz & ML & IPS & 29\%, 46.6 cm & Custom & [160] 2021 \\ \hline TDoA & DW1000 & UWB & 3.5–6.5 GHz & MCC-VC & IPS & 42 cm & MATLAB & [161] 2023 \\ \hline TDoA & Timension NXP SR040 & UWB, Bluetooth & 6–8.5 GHz & Tilateration, LS & IPS & 35 cm & Samsung’s app & [101, 102] 2024 \\ \hline TDoA & DW1000 & UWB & 3.5–6.5 GHz & \
\begin{tabular}{} \end{tabular} & IPS & 8.1 cm & Custom & [162] 2021 \\ \hline TDoA & DW1000 & UWB & 3.5–6.5 GHz & - & IPS & 26 cm & Custom & [163] 2019 \\ \hline TDoA & DW1000 & UWB & CH5, 6.5 GHz & EKF & IPS & \textless{}50 cm & Custom & [164] 2020 \\ \hline TDoA & DW1000 & UWB, IMU & 3.5–6.5 GHz & UKF & IPS & 34 cm & Custom & [165] 2019 \\ \hline TDoA & MDEK1001 & UWB & 3.5–6.5 GHz & LS, KF & IPS & 15 cm & SLAM & [97] 2022 \\ \hline TDoA & DW1000 & UWB & 3.5–6.5 GHz & LinHPS & IPS & 10 cm & Custom & [166] 2022 \\ \hline TDoA & DW1000 & UWB & 3.5–6.5 GHz & P2S, DBLD & IPS & \textless{}27 cm & SLAM & [17] 2021 \\ \hline TDoA, FDoA & DW1000 & UWB & 3.5–6.5 GHz & WLS, KF & IPS & \textless{}60 cm & Custom & [107] 2021 \\ \hline SS-TWR, TDoA, FDoA & Custom & UWB & CH5, 6.5 GHz & BYOPS & IPS, robotics & 40 cm & UCAS & [167] 2023 \\ \hline TDoA & DW1000 & UWB & 3.5–6.5 GHz & - & IPS, robotics & 30 cm & Custom & [108] 2021 \\ \hline TDoA & DW1000 & UWB & 3.5–6.5 GHz & Tilateration & IPS & 10 cm & Python & [168] 2023 \\ \hline TDoA & NXP-SR100T, UWB &
\begin{tabular}{} \end{tabular} & KF, RNN & IPS & 31\% & Custom & [169] 2023 \\ \hline TDoA & DW1000 & UWB & 3.5–6.5 GHz & EKF & RTLS & 17 cm & C language & [109] 2019 \\ \hline TDoA & DW1000 & UWB & 3.5–6.5 GHz & SWF & IPS & 20 cm & Custom & [170] 2020 \\ \hline TDoA & DW1000 & UWB & 3.5–6.5 GHz & FLA & IPS & 17.6 cm & Custom & [171] 2019 \\ \hline TDoA & DW1000 & UWB & 3.5–6.5 GHz & LS & IPS & 8 cm & Custom & [172] 2024 \\ \hline TDoA & DW1000 & UWB & 3.5–6.5 GHz & EKF & RTLS & 19 cm & Custom & [173] 2019 \\ \hline TDoA & DW1000 & UWB, IMU & 3.5–6.5 GHz & Dead Rekoning, KF & IPS, robotics & 10 cm & Custom & [174] 2022 \\ \hline TDoA & DW1000 & UWB & 3.5–6.5 GHz & ARPF, & IPS & 50\% & Custom & [175] 2023 \\ \hline TDoA & DW1000 & UWB & 3.5–6.5 GHz & Triangulation & IPS & 9 cm & Custom & [176] 2022 \\ \hline TWR, TDoA & DW1000 & UWB & 3.5–6.5 GHz & - & IPS & 30 cm & Custom & [177] 2023 \\ \hline TDoA & DW1000 & UWB & 3.5–6.5 GHz & EKF & IPS & 30 cm & Custom & [178] 2022 \\ \hline TDoA & DW1000 & UWB & 3.5–6.5 GHz & Multilateration, Df, EKF & IPS & 15.8 cm & Custom & [179] 20222 \\ \hline TDoA & DW1000 & UWB & 3.5–6.5 GHz & EKF & IPS & 30.3 cm & Custom & [180] 2022 \\ \hline TWR & DW1000 & UWB & 3.5–6.5 GHz & MAL & IPS & 20 cm & Custom & [181] 2022 \\ \hline TWR & DW1000 & UWB, GPS & 3.5–6.5 GHz & Tilateration & IPS & 11.8 cm & Custom & [182] 2021 \\ \hline TDoA & DW1000 & UWB & 3.5–6.5 GHz & IGN & RTLS & 50 cm & Custom & [183] 2020 \\ \hline \hline \end{tabular}
\end{table} 
Table 3: _Cont._