System based on a modular and asynchronous network, without the need of neither a master node nor any form of clustering/coordination. Any addition/removal of anchors can be easily managed on the basis of future changes of the environment or application.

Fixed networks of anchors requiring a-priori planning. Any change of the anchors’ architecture needs adaptation.

Decentralized architectures (both TDOA and TWR) performing the estimation of the tag position in the tag itself, allowing fast interaction with autonomous systems (robots, drones, etc.). Position available at tag side with no external connections. Zero latency and outstanding robustness due to the lack of unreliable radio links.

Most of the UWB indoor positioning systems perform position calculation only on a central unit (server). Wireless connection necessary for navigation leads to latency and unreliability.

Architecture based on asynchronous coordination among the anchors; the failure of any anchor or of any communication link does not compromise the localization of tags.

Failure of a master anchor compromises all the cluster of anchors connected to that master. Failure of the communication network between anchors and the central unit compromises the localization.

Possibility of coexistence between powerful tags estimating their position, as done in standard GNSS receivers (InGPS) and low-complexity, small and battery-powered tags (InTracking) whose position is computed by a central server. Infinite number of tags localized simultaneously at the maximum refresh rate. No network necessary for InGPS (fully distributed).

Complex central unit estimating the position of all the tags. Reliable network connections are mandatory for operations. The positioning refresh rate always scales with the number of tags.

Not needed for InGPS. Only Ethernet for InTracking. No additional cables, no master nodes. Fast and easy installation and low-cost infrastructure.

Necessity of cable synchronization or master anchors for wireless synchronization. Presence of clusters of anchors. Complicated deployment, high cost and network planning mandatory.

Beyond state-of-the-art localization engine. Reliable locations reported. Automatic detection of outliers and out-of-service events. Robust and automatic reset of the localization engine. Automatic neighbor anchors’ discovery and seamless handover.

Clustered networks with scarce robustness in case of failure of anchors, network or  localization engine.