# 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} 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 TDA & LinkTrack-5 & UWB, IMU & 3.5–6.5 GHz & EKF & IPS, UAV & 3.8 cm & Custom & [148], 2023 \\ \hline TDA & DW1000 & UWB & 3.5–6.5 GHz & STVBF & IPS, UAV & 42.0\%, 40 cm & Custom & [205], 2022 \\ \hline TWR & DW1000 & UWB, IMU, camera & 3.5–6.5 GHz & Trilateration, KNF & IPS, UAV & 10 cm & C++ & [206], 2021 \\ \hline TDoA & LinkTrack-5 & UWB, IMU, camera & 3.5–6.5 GHz & CNN, LSTM & IPS, UAV & 42 cm & Custom & [208], 2023 \\ \hline TDoA & Dw1000 & UWB & 3.5–6.5 GHz & GDoP & IPS, UAV & 20 cm & Custom & [209], 2022 \\ \hline TDoA & DW1000 & UWB & 3.5–6.5 GHz & Multilateration & IPS, UAV & 30 cm & Custom & [210], 2023 \\ \hline TWR & DW1000 & UWB & 3.5–6.5 GHz & ANN & RTLS & 26 cm & Custom & [211], 2024 \\ \hline TWR & DW1000 & UWB & 3.5–6.5 GHz & LS & IPS, robotics & 20 cm & Custom & [212], 2023 \\ \hline TDoA & DW1000 & UWB & 3.5–6.5 GHz & DoP & IPS & 44 cm & Custom & [213], 2022 \\ \hline TDoA & LinkTrack & UWB, LiDAR & 3.5–6.5 GHz & PF & IPS, robotics & 31.2 cm & Custom & [2021], 2021 \\ \hline TDoA & DW1000 & UWB & 3.5–6.5 GHz & PDoP & IPS & 20 cm & Custom & [214], 2021 \\ \hline DS-TWR & DW1000, DW300 & UWB & 3.5–6.5 GHz & Multilateration & IPS & 40 cm & MATLAB & [215], 2024 \\ \hline SDS-TWR & DW1000 & UWB & 3.5–6.5 GHz & Trilateration & RTLS & 10 cm & Custom & [216], 2023 \\ \hline DS-TWR & DW1000 & UWB & 3.5–6.5 GHz & EKF, LSTM & IPS & 50\%, 37 cm & MATLAB & [217], 2022 \\ \hline AoA, TDoA & DVi000, Ubisense D4 & UWB & 3.5–6.5 GHz & EKF, PF & RTLS & 40 cm & Custom & [218], 2020 \\ \hline TWR & DW1000 & UWB & 3.5–6.5 GHz & Multilateration & RTLS & 53 cm & Python & [219], 2023 \\ \hline TWR & DW1000 & UWB & 3.5–6.5 GHz & Trilateration, LS & IPS, robotics & 16.34 cm & Python & [220], 2024 \\ \hline TWR & DW1000 & UWB & 3.5–6.5 GHz & LS, ECA & IPS & 17 cm & Python & [221], 2023 \\ \hline TWR & LinTrack & UWB, IMU & 3.5–6.5 GHz & EKF & IPS, UAV & 51 cm & Custom & [222], 2021 \\ \hline TWR & DW1000 & UWB & 3.5–6.5 GHz & ANN & IPS & 88.45\% & Custom & [222], 2022 \\ \hline TWR & DW1000 & UWB, IMU & 3.5–6.5 GHz & PE, EKF & IPS & 36.15\%, 71.5 cm & MATLAB & [223], 2024 \\ \hline TWR & DW1000 & UWB & 3.5–6.5 GHz & CNN & IPS & 7.35 cm & Custom & [224], 2022 \\ \hline TWR & DW1000 & UWB & 3.5–6.5 GHz & EKF, PF & IPS, robotics & 7.2 cm & SLAM & [225], 2023 \\ \hline TWR & DW1000 & UWB & 3.5–6.5 GHz & Trilateration, KNN & IPS & 4.71 cm & Custom & [226], 2021 \\ \hline TWR & DW1000 & UWB & 3.5–6.5 GHz & Trilateration, KNF & IPS & 4 cm & Custom & [227], 2024 \\ \hline TWR & DW1000 & UWB, Wi-Fi & CH12, 3993 GHz & KNN & IPS & _69.8\%_, 30 cm & Custom & [228], 2024 \\ \hline TWR & Pozyx UWB & UWB & 3.5–6.5 GHz & Trilateration & IPS & 30 cm & Python & [229], 2024 \\ \hline TDoA & DW1000 & UWB & 3.5–6.5 GHz & Triangulation, KF & IPS & 68\%, 10 cm & Web/mobile application & [230], 2023 \\ \hline TWR & Pozyx UWB & UWB & 3.5–6.5 GHz & ANN, KNN & IPS & 34\%, 31.6 cm & Python & [231], 2022 \\ \hline ADS-TWR & DW1000 & UWB & 3.5–6.5 GHz & Multilateration, EKF & IPS & - & Python & [232], 2023 \\ \hline \hline \end{tabular}
\end{table} 
Table 3: _Cont._