Today, many applications such as production or rescue settings rely on highly accurate entity positioning. Advanced Time of Flight (ToF) based positioning methods provide highaccuracy localization of entities. A key challenge for ToF based positioning is to synchronize the clocks between the participating entities. This paper summarizes and analyzes ToA and TDoA methods with respect to clock error robustness. The focus is on synchronization-less methods, i.e. methods which reduce the infrastructure requirement significantly. We introduce a unified notation to survey and compare the relevant work from literature. Then we apply a clock error model and compute worst case location-accuracy errors. Our analysis reveals a superior error robustness against clock errors for so called Double-Pulse methods when applied to radio based ToF positioning

中文翻译：

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常见的基于飞行时间的定位方法的时钟误差分析

如今，生产或救援设置等许多应用都依赖于高度准确的实体定位。基于高级飞行时间 (ToF) 的定位方法提供实体的高精度定位。基于 ToF 的定位的一个关键挑战是同步参与实体之间的时钟。本文就时钟误差鲁棒性对ToA和TDoA方法进行了总结和分析。重点是无同步方法，即显着降低基础设施要求的方法。我们引入了一个统一的符号来调查和比较文献中的相关工作。然后我们应用时钟误差模型并计算最坏情况下的位置精度误差。我们的分析表明，当应用于基于无线电的 ToF 定位时，所谓的双脉冲方法对时钟误差具有卓越的误差鲁棒性