{"id":"https://openalex.org/W4322503127","doi":"https://doi.org/10.3390/s23052595","title":"Utilization of Carrier-Frequency Offset Measurements in UWB TDoA Positioning with Receiving Tag","display_name":"Utilization of Carrier-Frequency Offset Measurements in UWB TDoA Positioning with Receiving Tag","publication_year":2023,"publication_date":"2023-02-26","ids":{"openalex":"https://openalex.org/W4322503127","doi":"https://doi.org/10.3390/s23052595","pmid":"https://pubmed.ncbi.nlm.nih.gov/36904799"},"language":"en","primary_location":{"id":"doi:10.3390/s23052595","is_oa":true,"landing_page_url":"https://doi.org/10.3390/s23052595","pdf_url":"https://www.mdpi.com/1424-8220/23/5/2595/pdf?version=1677661231","source":{"id":"https://openalex.org/S101949793","display_name":"Sensors","issn_l":"1424-8220","issn":["1424-8220"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310310987","host_organization_name":"Multidisciplinary Digital Publishing Institute","host_organization_lineage":["https://openalex.org/P4310310987"],"host_organization_lineage_names":["Multidisciplinary Digital Publishing Institute"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Sensors","raw_type":"journal-article"},"type":"article","indexed_in":["crossref","doaj","pubmed"],"open_access":{"is_oa":true,"oa_status":"gold","oa_url":"https://www.mdpi.com/1424-8220/23/5/2595/pdf?version=1677661231","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5081750350","display_name":"Josef Kr\u0161ka","orcid":"https://orcid.org/0000-0002-2295-8805"},"institutions":[{"id":"https://openalex.org/I44504214","display_name":"Czech Technical University in Prague","ror":"https://ror.org/03kqpb082","country_code":"CZ","type":"education","lineage":["https://openalex.org/I44504214"]}],"countries":["CZ"],"is_corresponding":false,"raw_author_name":"Josef Kr\u0161ka","raw_affiliation_strings":["Department of Radio Engineering, Faculty of Electrical Engineering, Czech Technical University in Prague, 166 27 Praha, Czech Republic"],"raw_orcid":"https://orcid.org/0000-0002-2295-8805","affiliations":[{"raw_affiliation_string":"Department of Radio Engineering, Faculty of Electrical Engineering, Czech Technical University in Prague, 166 27 Praha, Czech Republic","institution_ids":["https://openalex.org/I44504214"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5026679548","display_name":"V\u00e1clav Navr\u00e1til","orcid":"https://orcid.org/0000-0003-0206-2005"},"institutions":[{"id":"https://openalex.org/I44504214","display_name":"Czech Technical University in Prague","ror":"https://ror.org/03kqpb082","country_code":"CZ","type":"education","lineage":["https://openalex.org/I44504214"]}],"countries":["CZ"],"is_corresponding":true,"raw_author_name":"V\u00e1clav Navr\u00e1til","raw_affiliation_strings":["Department of Radio Engineering, Faculty of Electrical Engineering, Czech Technical University in Prague, 166 27 Praha, Czech Republic"],"raw_orcid":"https://orcid.org/0000-0003-0206-2005","affiliations":[{"raw_affiliation_string":"Department of Radio Engineering, Faculty of Electrical Engineering, Czech Technical University in Prague, 166 27 Praha, Czech Republic","institution_ids":["https://openalex.org/I44504214"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":["https://openalex.org/A5026679548"],"corresponding_institution_ids":["https://openalex.org/I44504214"],"apc_list":{"value":2400,"currency":"CHF","value_usd":2598},"apc_paid":{"value":2400,"currency":"CHF","value_usd":2598},"fwci":1.8694,"has_fulltext":true,"cited_by_count":15,"citation_normalized_percentile":{"value":0.85327161,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":96,"max":99},"biblio":{"volume":"23","issue":"5","first_page":"2595","last_page":"2595"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10326","display_name":"Indoor and Outdoor Localization Technologies","score":1.0,"subfield":{"id":"https://openalex.org/subfields/2208","display_name":"Electrical and Electronic Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T10326","display_name":"Indoor and Outdoor Localization Technologies","score":1.0,"subfield":{"id":"https://openalex.org/subfields/2208","display_name":"Electrical and Electronic Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T12024","display_name":"Ultra-Wideband Communications Technology","score":0.998199999332428,"subfield":{"id":"https://openalex.org/subfields/2208","display_name":"Electrical and Electronic Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10655","display_name":"GNSS positioning and interference","score":0.9976000189781189,"subfield":{"id":"https://openalex.org/subfields/2202","display_name":"Aerospace Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/multilateration","display_name":"Multilateration","score":0.8853223323822021},{"id":"https://openalex.org/keywords/carrier-frequency-offset","display_name":"Carrier frequency offset","score":0.6562607884407043},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6121611595153809},{"id":"https://openalex.org/keywords/ultra-wideband","display_name":"Ultra-wideband","score":0.6064786314964294},{"id":"https://openalex.org/keywords/extended-kalman-filter","display_name":"Extended Kalman filter","score":0.581278920173645},{"id":"https://openalex.org/keywords/kalman-filter","display_name":"Kalman filter","score":0.5283147692680359},{"id":"https://openalex.org/keywords/time-of-arrival","display_name":"Time of arrival","score":0.506702721118927},{"id":"https://openalex.org/keywords/offset","display_name":"Offset (computer science)","score":0.5066843628883362},{"id":"https://openalex.org/keywords/transceiver","display_name":"Transceiver","score":0.491811066865921},{"id":"https://openalex.org/keywords/frequency-offset","display_name":"Frequency offset","score":0.47769027948379517},{"id":"https://openalex.org/keywords/electronic-engineering","display_name":"Electronic engineering","score":0.451903760433197},{"id":"https://openalex.org/keywords/power","display_name":"Power (physics)","score":0.42497795820236206},{"id":"https://openalex.org/keywords/real-time-computing","display_name":"Real-time computing","score":0.4161111116409302},{"id":"https://openalex.org/keywords/electrical-engineering","display_name":"Electrical engineering","score":0.3295033872127533},{"id":"https://openalex.org/keywords/telecommunications","display_name":"Telecommunications","score":0.2865957021713257},{"id":"https://openalex.org/keywords/wireless","display_name":"Wireless","score":0.25373566150665283},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.1872628629207611},{"id":"https://openalex.org/keywords/acoustics","display_name":"Acoustics","score":0.17687615752220154},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.14315307140350342},{"id":"https://openalex.org/keywords/orthogonal-frequency-division-multiplexing","display_name":"Orthogonal frequency-division multiplexing","score":0.09651318192481995}],"concepts":[{"id":"https://openalex.org/C104037064","wikidata":"https://www.wikidata.org/wiki/Q1640884","display_name":"Multilateration","level":3,"score":0.8853223323822021},{"id":"https://openalex.org/C2776108382","wikidata":"https://www.wikidata.org/wiki/Q25111451","display_name":"Carrier frequency offset","level":5,"score":0.6562607884407043},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6121611595153809},{"id":"https://openalex.org/C21916231","wikidata":"https://www.wikidata.org/wiki/Q851424","display_name":"Ultra-wideband","level":2,"score":0.6064786314964294},{"id":"https://openalex.org/C206833254","wikidata":"https://www.wikidata.org/wiki/Q5421817","display_name":"Extended Kalman filter","level":3,"score":0.581278920173645},{"id":"https://openalex.org/C157286648","wikidata":"https://www.wikidata.org/wiki/Q846780","display_name":"Kalman filter","level":2,"score":0.5283147692680359},{"id":"https://openalex.org/C163150518","wikidata":"https://www.wikidata.org/wiki/Q4135208","display_name":"Time of arrival","level":3,"score":0.506702721118927},{"id":"https://openalex.org/C175291020","wikidata":"https://www.wikidata.org/wiki/Q1156822","display_name":"Offset (computer science)","level":2,"score":0.5066843628883362},{"id":"https://openalex.org/C7720470","wikidata":"https://www.wikidata.org/wiki/Q954187","display_name":"Transceiver","level":3,"score":0.491811066865921},{"id":"https://openalex.org/C49319798","wikidata":"https://www.wikidata.org/wiki/Q5502874","display_name":"Frequency offset","level":4,"score":0.47769027948379517},{"id":"https://openalex.org/C24326235","wikidata":"https://www.wikidata.org/wiki/Q126095","display_name":"Electronic engineering","level":1,"score":0.451903760433197},{"id":"https://openalex.org/C163258240","wikidata":"https://www.wikidata.org/wiki/Q25342","display_name":"Power (physics)","level":2,"score":0.42497795820236206},{"id":"https://openalex.org/C79403827","wikidata":"https://www.wikidata.org/wiki/Q3988","display_name":"Real-time computing","level":1,"score":0.4161111116409302},{"id":"https://openalex.org/C119599485","wikidata":"https://www.wikidata.org/wiki/Q43035","display_name":"Electrical engineering","level":1,"score":0.3295033872127533},{"id":"https://openalex.org/C76155785","wikidata":"https://www.wikidata.org/wiki/Q418","display_name":"Telecommunications","level":1,"score":0.2865957021713257},{"id":"https://openalex.org/C555944384","wikidata":"https://www.wikidata.org/wiki/Q249","display_name":"Wireless","level":2,"score":0.25373566150665283},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.1872628629207611},{"id":"https://openalex.org/C24890656","wikidata":"https://www.wikidata.org/wiki/Q82811","display_name":"Acoustics","level":1,"score":0.17687615752220154},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.14315307140350342},{"id":"https://openalex.org/C40409654","wikidata":"https://www.wikidata.org/wiki/Q375889","display_name":"Orthogonal frequency-division multiplexing","level":3,"score":0.09651318192481995},{"id":"https://openalex.org/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"score":0.0},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.0},{"id":"https://openalex.org/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"score":0.0},{"id":"https://openalex.org/C62611344","wikidata":"https://www.wikidata.org/wiki/Q1062658","display_name":"Node (physics)","level":2,"score":0.0},{"id":"https://openalex.org/C127162648","wikidata":"https://www.wikidata.org/wiki/Q16858953","display_name":"Channel (broadcasting)","level":2,"score":0.0}],"mesh":[],"locations_count":5,"locations":[{"id":"doi:10.3390/s23052595","is_oa":true,"landing_page_url":"https://doi.org/10.3390/s23052595","pdf_url":"https://www.mdpi.com/1424-8220/23/5/2595/pdf?version=1677661231","source":{"id":"https://openalex.org/S101949793","display_name":"Sensors","issn_l":"1424-8220","issn":["1424-8220"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310310987","host_organization_name":"Multidisciplinary Digital Publishing Institute","host_organization_lineage":["https://openalex.org/P4310310987"],"host_organization_lineage_names":["Multidisciplinary Digital Publishing Institute"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Sensors","raw_type":"journal-article"},{"id":"pmid:36904799","is_oa":false,"landing_page_url":"https://pubmed.ncbi.nlm.nih.gov/36904799","pdf_url":null,"source":{"id":"https://openalex.org/S4306525036","display_name":"PubMed","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I1299303238","host_organization_name":"National Institutes of Health","host_organization_lineage":["https://openalex.org/I1299303238"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Sensors (Basel, Switzerland)","raw_type":null},{"id":"pmh:oai:pubmedcentral.nih.gov:10007374","is_oa":true,"landing_page_url":"https://www.ncbi.nlm.nih.gov/pmc/articles/10007374","pdf_url":"https://pmc.ncbi.nlm.nih.gov/articles/PMC10007374/pdf/sensors-23-02595.pdf","source":{"id":"https://openalex.org/S2764455111","display_name":"PubMed Central","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I1299303238","host_organization_name":"National Institutes of Health","host_organization_lineage":["https://openalex.org/I1299303238"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Sensors (Basel)","raw_type":"Text"},{"id":"pmh:oai:doaj.org/article:c92c29f2c65e4c58b2841d506859566b","is_oa":true,"landing_page_url":"https://doaj.org/article/c92c29f2c65e4c58b2841d506859566b","pdf_url":null,"source":{"id":"https://openalex.org/S4306401280","display_name":"DOAJ (DOAJ: Directory of Open Access Journals)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by-sa","license_id":"https://openalex.org/licenses/cc-by-sa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Sensors, Vol 23, Iss 5, p 2595 (2023)","raw_type":"article"},{"id":"pmh:oai:mdpi.com:/1424-8220/23/5/2595/","is_oa":true,"landing_page_url":"https://dx.doi.org/10.3390/s23052595","pdf_url":null,"source":{"id":"https://openalex.org/S4306400947","display_name":"MDPI (MDPI AG)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I4210097602","host_organization_name":"Multidisciplinary Digital Publishing Institute (Switzerland)","host_organization_lineage":["https://openalex.org/I4210097602"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Sensors","raw_type":"Text"}],"best_oa_location":{"id":"doi:10.3390/s23052595","is_oa":true,"landing_page_url":"https://doi.org/10.3390/s23052595","pdf_url":"https://www.mdpi.com/1424-8220/23/5/2595/pdf?version=1677661231","source":{"id":"https://openalex.org/S101949793","display_name":"Sensors","issn_l":"1424-8220","issn":["1424-8220"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310310987","host_organization_name":"Multidisciplinary Digital Publishing Institute","host_organization_lineage":["https://openalex.org/P4310310987"],"host_organization_lineage_names":["Multidisciplinary Digital Publishing Institute"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Sensors","raw_type":"journal-article"},"sustainable_development_goals":[{"score":0.6200000047683716,"id":"https://metadata.un.org/sdg/9","display_name":"Industry, innovation and infrastructure"}],"awards":[{"id":"https://openalex.org/G2136481349","display_name":null,"funder_award_id":"SGS22/169/OHK3/3T/13","funder_id":"https://openalex.org/F4320309972","funder_display_name":"\u010cesk\u00e9 Vysok\u00e9 U\u010den\u00ed Technick\u00e9 v Praze"}],"funders":[{"id":"https://openalex.org/F4320309972","display_name":"\u010cesk\u00e9 Vysok\u00e9 U\u010den\u00ed Technick\u00e9 v Praze","ror":"https://ror.org/03kqpb082"}],"has_content":{"grobid_xml":false,"pdf":true},"content_urls":{"pdf":"https://content.openalex.org/works/W4322503127.pdf"},"referenced_works_count":25,"referenced_works":["https://openalex.org/W2007417238","https://openalex.org/W2013002270","https://openalex.org/W2017834411","https://openalex.org/W2087070363","https://openalex.org/W2161133863","https://openalex.org/W2213241233","https://openalex.org/W2256578114","https://openalex.org/W2519772580","https://openalex.org/W2551640686","https://openalex.org/W2553336259","https://openalex.org/W2578085927","https://openalex.org/W2758615564","https://openalex.org/W2800641078","https://openalex.org/W2805510730","https://openalex.org/W2807255923","https://openalex.org/W2903018000","https://openalex.org/W2934786869","https://openalex.org/W2935512808","https://openalex.org/W2937068811","https://openalex.org/W2964029185","https://openalex.org/W3151110855","https://openalex.org/W4200634591","https://openalex.org/W4239884489","https://openalex.org/W4282565173","https://openalex.org/W4293197684"],"related_works":["https://openalex.org/W2066348132","https://openalex.org/W3100472506","https://openalex.org/W2932879926","https://openalex.org/W2046534068","https://openalex.org/W2163799874","https://openalex.org/W2117730682","https://openalex.org/W2215124457","https://openalex.org/W2033011651","https://openalex.org/W2866180282","https://openalex.org/W2899282232"],"abstract_inverted_index":{"High-capacity":[0],"impulse-radio":[1],"ultra-wideband":[2],"(IR-UWB)":[3],"indoor":[4],"localization":[5,23],"systems":[6],"are":[7,39,153],"typically":[8],"based":[9,45,188],"on":[10,46,189],"the":[11,19,25,49,57,60,74,80,93,99,110,122,131,144,156,165,171],"time":[12,50],"difference":[13],"of":[14,35,51,53,59,101,176],"arrival":[15,52],"(TDoA)":[16],"principle.":[17],"When":[18],"fixed":[20],"and":[21,90,119,150],"synchronized":[22],"infrastructure,":[24],"anchors,":[26],"transmit":[27],"precisely":[28],"timestamped":[29],"messages,":[30],"a":[31,67,102,186,192],"virtually":[32],"unlimited":[33],"number":[34],"user":[36],"receivers":[37],"(tags)":[38],"able":[40],"to":[41,71,88,121,143,184],"estimate":[42],"their":[43],"position":[44],"differences":[47],"in":[48,114,130,174],"those":[54],"messages.":[55],"However,":[56],"drift":[58],"tag":[61],"clock":[62,94,145],"causes":[63],"systematic":[64],"errors":[65],"at":[66],"sufficiently":[68],"high":[69],"magnitude":[70],"effectively":[72],"deny":[73],"positioning,":[75],"if":[76],"left":[77],"uncorrected.":[78],"Previously,":[79],"extended":[81],"Kalman":[82],"filter":[83],"(EKF)":[84],"has":[85],"been":[86],"used":[87],"track":[89],"compensate":[91],"for":[92,108,199],"drift.":[95],"In":[96],"this":[97],"article,":[98],"utilization":[100],"carrier":[103,149],"frequency":[104],"offset":[105],"(CFO)":[106],"measurement":[107],"suppressing":[109],"clock-drift":[111],"related":[112,142],"error":[113],"anchor-to-tag":[115],"positioning":[116],"is":[117,127,140,182,196],"presented":[118],"compared":[120],"filtered":[123],"solution.":[124],"The":[125,160],"CFO":[126],"readily":[128],"available":[129],"coherent":[132],"UWB":[133],"transceivers,":[134],"such":[135],"as":[136],"Decawave":[137],"DW1000.":[138],"It":[139],"inherently":[141],"drift,":[146],"since":[147],"both":[148],"timestamping":[151],"frequencies":[152],"derived":[154],"from":[155,191],"identical":[157],"reference":[158],"oscillator.":[159],"experimental":[161],"evaluation":[162],"shows":[163],"that":[164],"CFO-aided":[166],"solution":[167,173,187],"performs":[168],"worse":[169],"than":[170],"EKF-based":[172],"terms":[175],"accuracy.":[177],"Nonetheless,":[178],"with":[179],"CFO-aiding":[180],"it":[181],"possible":[183],"obtain":[185],"measurements":[190],"single":[193],"epoch,":[194],"which":[195],"favorable":[197],"especially":[198],"power-constrained":[200],"applications.":[201]},"counts_by_year":[{"year":2025,"cited_by_count":3},{"year":2024,"cited_by_count":9},{"year":2023,"cited_by_count":3}],"updated_date":"2026-05-21T06:26:12.895304","created_date":"2025-10-10T00:00:00"}