# 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 (\%)/ Accuracy (cm)** & **Monitoring** & **Reference No, Year** \\ \hline TWR & DW1000 & UWB, IMU & 3.5–6.5 GHz & UKF & IPS & 50.28\%, 48.7 cm & Custom & [184], 2024 \\ \hline TWR & DW1000 & UWB, IMU & 3.5–6.5 GHz & Trilateration, EKF & RTLS & 31 cm & Unity software & [185], 2023 \\ \hline TWR & DW1000 & UWB, LiDAR & 3.5–6.5 GHz & VGICP & IPS, robotics & 40 cm & SLAM & [186], 2022 \\ \hline TWR & DW1000 & UWB & 3.5–6.5 GHz & MCA & IPS, robotics & 30 cm & Custom & [187], 2021 \\ \hline TWR & P440 & UWB, IMU & 4.3 GHz & REKF & IPS & 56 cm & Custom & [188], 2022 \\ \hline TWR & DW1000 & UWB & 3.5–6.5 GHz & EKF & IPS & 60.61\%, 10 cm & Custom & [189], 2020 \\ \hline TDoA & DW1000 & UWB & 3.5–6.5 GHz & EKF & IPS, robotics, UAV & 42.09\%, 14.1 cm & Custom & [190], 2021 \\ \hline TWR & DW1000 & UWB & 3.5–6.5 GHz & KF & IPS, robotics & 16 cm & Custom & [191], 2024 \\ \hline TWR & Pozyx UWB & UWB & 3.5–6.5 GHz & EKF & RTLS, robotics & 20 cm & ROS & [192], 2020 \\ \hline TWR & Mini 3s & UWB, LiDAR & 3.5–6.5 GHz & EKF & IPS, robotics & \textless{}40 cm & SLAM-ROS & [193], 2019 \\ \hline DS-TWR & DW1000 & UWB, IMU & 3.5–6.5 GHz & KF & IPS & 7.58 cm & Custom & [194], 2020 \\ \hline TWR & DW1000 & UWB, IMU & 3.5–6.5 GHz & EKF & IPS, robotics, UAV & 60\%, 48 cm & Custom & [195], 2020 \\ \hline TWR & Samsung UM100 & UWB, camera & 3.1–8.976 GHz & EKF & IPS & 20 cm & SLAM & [196], 2020 \\ \hline TWR & Pozyx UWB & UWB, encoder & 3.5–6.5 GHz & EKF & RTLS, robotics & 6 cm & Custom & [135], 2023 \\ \hline TWR & Pozyx UWB & UWB, LiDAR, IMU & 3.5–6.5 GHz & EKF & RTLS, robotics & 10 cm & SLAM-ROS & [198], 2020 \\ \hline TWR & DW1000 & UWB & 3.5–6.5 GHz & CRLB & IPS, robotics & 12 cm & Custom & [199], 2023 \\ \hline TDoA & DW1000 & UWB & 3.5–6.5 GHz & EKF & IPS, robotics & 54 cm & Custom & [133], 2020 \\ \hline TDoA & DW1000 & UWB & 3.5–6.5 GHz & NN & IPS, robotics & 89.2 cm & Custom & [197], 2024 \\ \hline TWR & DW1000 & UWB & 3.5–6.5 GHz & EFIR-RTS & IPS, robotics & 25.35\%, 16 cm & SLAM & [198], 2022 \\ \hline TWR & DW1000 & UWB, LiDAR & 3.5–6.5 GHz & UKF & IPS, robotics, UAV & 34 cm & SLAM & [199], 2022 \\ \hline TDoA & DW1000 & UWB & 3.5–6.5 GHz & - & IPS, robotics, UAV & 34.6 cm & Custom & [142], 2021 \\ \hline TWR & DW1000 & UWB & 3.5–6.5 GHz & Multilateration & IPS, UAV & 28 cm & Custom & [141], 2023 \\ \hline TWR & Pozyx UWB & UWB, LiDAR, IMU & 3.5–6.5 GHz & EKF & IPS, UAV & 39 cm & SLAM & [200], 2022 \\ \hline TWR & DW1000 & UWB & 3.5–6.5 GHz & EKF & IPS, UAV & 32\%, 6.9 cm & Custom & [146], 2024 \\ \hline SS-TWR & DW1000 & UWB & 3.5–6.5 GHz & Multilateration, GLOp & IPS, robotics, UAV & 15 cm & SLAM & [201], 2022 \\ \hline TWR & DW1000 & UWB, IMU & 3.5–6.5 GHz & EKF & RTLS, UAV & 15 cm & Custom & [202], 2023 \\ \hline TDoA & LinkTrack-S & UWB, IMU, camera & 3.5–6.5 GHz & UWB odometryconstraint & IPS, UAV & 43.4 cm & SLAM & [203], 2022 \\ \hline TWR & DW1000 & UWB, IMU & 3.5–6.5 GHz & EKF & IPS, UAV & 20.8 cm & Custom & [145], 2022 \\ \hline TWR & DW1000 & UWB & 3.5–6.5 GHz & EKF & IPS, UAV & 27.8 cm & Custom & [204], 2023 \\ \hline TWR & DW1000 & UWB & 3.5–6.5 GHz & Multilateration & IPS, UAV & 10 cm & Custom & [144], 2020 \\ \hline \hline \end{tabular}
\end{table} 
Table 3: _Cont._