Many applications require positioning. Time of Flight (ToF) methods calculate distances by measuring the propagation time of signals. We present a novel ToF localization method. Our new approach works infrastructure-less, without pre-defined roles like Anchors or Tags. It generalizes existing synchronization-less Time Difference of Arrival (TDoA) and Time of Arrival (ToA) algorithms. We show how known algorithms can be derived from our new method. A major advantage of our approach is that it provides a comparable or better clock error robustness, i.e. the typical errors of crystal oscillators have negligible impact for TDoA and ToA measurements. We show that our channel usage is for most cases superior compared to the state-of-the art.

中文翻译：

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ToF 定位的通用 TDoA/ToA 模型

许多应用需要定位。飞行时间 (ToF) 方法通过测量信号的传播时间来计算距离。我们提出了一种新颖的 ToF 定位方法。我们的新方法无需基础设施，无需锚点或标签等预定义角色。它概括了现有的无同步到达时间差 (TDoA) 和到达时间 (ToA) 算法。我们展示了如何从我们的新方法中推导出已知算法。我们方法的一个主要优点是它提供了可比较或更好的时钟误差稳健性，即晶体振荡器的典型误差对 TDoA 和 ToA 测量的影响可以忽略不计。我们表明，与最先进的技术相比，我们的信道使用在大多数情况下都更好。