Range Measurement Using Time Difference of Arrival of The ATA8352 DS00004113

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Range Measurement using Time-Difference-of-Arrival of

the ATA8352
Introduction
The ATA8352 device is a low-power Ultra-Wideband (UWB) transceiver with an integrated security layer for secure
distance bounding and point-to-point data communication. The ATA8352 Impulse-Radio Ultra-Wideband (IR-UWB)
Transceiver Data Sheet (DS70005450) and ATA8352 Impulse-Radio Ultra-Wideband (IR-UWB) Transceiver User's
Guide (DS50003125) describe this distance bounding application using the Verifier and the Prover modes and the
data communication with the RX and TX modes.
This application note describes the Time-Difference-of-Arrival (TDoA) mode of the ATA8352 device using the RX and
TX modes for distance measurements and localization applications. During the TDoA mode operation, timestamps
are captured when data telegrams are transmitted or received. For more details on the TDoA handling, refer to
the ATA8352 Impulse-Radio Ultra-Wideband (IR-UWB) Transceiver User's Guide (DS50003125). A TDoA demo
application software to demonstrate the timestamp capturing is available for the UWB demo kit. Additionally, a
Double-Sided Two-Way-Ranging (DS-TWR) application software is available to measure distances between the two
demo kit nodes. At the Anchor node, the UWB node can act as a TDoA receiver or responder of the DS-TWR
measurement. At the Tag node, the UWB node can act as a TDoA transmitter or initiator of the DS-TWR.
The distance measurement using the TDoA mode differs from the verifier and prover operation of the device, as
• The TDoA mode uses RX and TX modes, which do not use scrambled payload and, therefore, do not have the
physical layer security as given by the VRs/VRso/PRs/PRso verifier and prover modes. For more details about
physical layer security and payload scrambling, refer to the ATA8352 Impulse-Radio Ultra-Wideband (IR-UWB)
Transceiver User's Guide (DS50003125). Nevertheless, the host controller can encrypt the payload data to
achieve security at the data layer.
• The application software running on the host controller controls the TDoA mode, and the UWB device controls
the ranging operation in hardware while in Verifier and Prover mode.
Note: The TDoA functionality description provided in this document applies to both industrial ATA8352 and
automotive ATA5352 devices.
Features
• ATA8352 Ultra-Wideband (UWB) Transceiver for Distance Bounding and Ranging Application
• Time-Difference-of-Arrival (TDoA) With ATA8352 Transceiver Device
• Angle-of-Arrival (AoA) Measurement
• Double-Sided Two-Way-Ranging (DS-TWR) With ATA8352 Transceiver Device
• Support for Wireless and Wired Synchronization
• Software Application for UWB Demo Kit
© 2021 Microchip Technology Inc. Application Note DS00004113A-page 1

and its subsidiaries
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Table of Contents
Introduction.....................................................................................................................................................1
Features.................................................................................................................................................. 1
1. Quick References....................................................................................................................................3
1.1. Reference Documentation............................................................................................................3
1.2. Software Prerequisites................................................................................................................. 3
1.3. Hardware Prerequisite..................................................................................................................3
1.4. Acronyms and Abbreviations........................................................................................................3
2. Functional Overview................................................................................................................................5
2.1. TDoA............................................................................................................................................ 5
2.2. DS-TWR....................................................................................................................................... 6
3. Demo Kit – Software Applications...........................................................................................................9
4. ATA8352 TDoA Implementation............................................................................................................ 14

4.1. Measurement Accuracy..............................................................................................................15
5. Document Revision History...................................................................................................................18
The Microchip Website.................................................................................................................................19
Product Change Notification Service............................................................................................................19
Customer Support........................................................................................................................................ 19
Microchip Devices Code Protection Feature................................................................................................ 19
Legal Notice................................................................................................................................................. 20
Trademarks.................................................................................................................................................. 20
Quality Management System....................................................................................................................... 21
Worldwide Sales and Service.......................................................................................................................22

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Quick References
1. Quick References
1.1 Reference Documentation

For further details, refer to the following:
• ATA8352 Impulse-Radio Ultra-Wideband (IR-UWB) Transceiver Data Sheet (DS70005450)
• ATA8352 Impulse-Radio Ultra-Wideband (IR-UWB) Transceiver User's Guide (DS50003125)
• ATA8352 Demo and Evaluation Kit User's Guide (DS50003129)
• IEEE 802.15.4a-2007 Standard
• IEEE 802.15.4z-2020 Standard
1.2 Software Prerequisites

• Wireless TDoA Demo Software for ATA8352 Demo Kit
• Wired TDoA Demo Software for ATA8352 Demo Kit with Xplained Pro Extension Board and two ATA8352
Modules
• DS-TWR Demo Software for ATA8352 Demo Kit
1.3 Hardware Prerequisite

• ATA8352 UWB Demo Kit (refer to the ATA8352 Demo and Evaluation Kit User's Guide (DS50003129))
• ATA53UWB-XPRO Xplained Pro Extension Board with two UWB modules (to be attached to the SAM C21
Xplained Pro board)
1.4 Acronyms and Abbreviations

Table 1-1. Acronyms and Abbreviations
Acronym/Abbreviation Description
AoA Angle-of-Arrival
DS-TWR Double-Sided Two-Way-Ranging
FIFO First-In First-Out
IRQ Interrupt Request
IR-UWB Impulse-Radio Ultra-Wideband
MCU Microcontroller Unit
RTLS Real-Time-Location-Service
RX Receive
SNR Signal-to-Noise Ratio
TDoA Time-Difference-of-Arrival
ToA Time-of-Arrival
ToF Time-of-Flight
TWR Two-Way-Ranging
TX Transmit

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Quick References
...........continued
Acronym/Abbreviation Description
UWB Ultra-Wideband

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Functional Overview
2. Functional Overview
Ranging and localization applications can be summarized under the term “Multilateration”, which gives an overview
about the methods and calculations. For the UWB demo kit, two demo applications are developed using the
ATA8352’s TDoA capability. For more details, refer to the ATA8352 Demo and Evaluation Kit User's Guide
(DS50003129).
1. TDoA application – To demonstrate the timestamp capturing with a transmitter (Tag) and receiver (Anchor)
device. For more details on the TDoA application, refer to the IEEE 802.15.4a-2007 Standard.
2. DS-TWR application – To demonstrate the ranging measurement with a Tag node and an Anchor node. For
more details on DS-TWR ranging, refer to the Annex D1 in the IEEE 802.15.4a-2007 Standard and section
6.9.1.2 in the IEEE 802.15.4z-2020 Standard.
2.1 TDoA
The following figure illustrates a typical TDoA application used for Real-Time-Location-Services (RTLS) in the
industry that uses several Anchor nodes and Tag nodes. The Anchor nodes are fixed and the position is known,
whereas the position of the mobile Tag nodes must be determined. In this application, the distances from the Tag
node to the Anchor nodes must be determined, which is derived from the Time-of-Arrival (ToA) measurement and the
propagation speed of light in free air.
Figure 2-1. TDoA Example Setup with Wired Clock Distribution and Synchronization
Anchor2 Anchor3
P2(x2,y2) P3(x3,y3)
RX3
Coordinator RX2 timestamp
timestamp
Clock,
Clock Sync,
Data
UWB
TX
timestamp
Anchor1
P1(x1,y1) Tag
RX1 PT(xt,yt)
timestamp
The ToA at the Anchor nodes with known positions is captured with timestamps to calculate the Tag position, which
requires a synchronization of the clocks between the Anchor nodes to calculate the TDoA between the Anchor
nodes.
The synchronization of the timestamp clock at the Anchor nodes is achieved using wired connections with
synchronization pulses to synchronize the Anchor clocks (see Figure 2-1).
It is also possible to achieve synchronization with wireless communication using a reference Tag with a known
position (see Figure 2-2). By measuring the ToA from the reference Tag in regular time intervals, the deviations of the
timestamps at the Anchor nodes are determined. These deviations are, then, used in the TDoA calculation to correct
the measured timestamps from the target Tag node.

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Functional Overview
Figure 2-2. TDoA Example Setup with Wireless Synchronization and Reference Tag
Anchor2 Anchor3
P2(x2,y2) P3(x3,y3)
RX3
Coordinator RX2 BLE, WiFi, UWB timestamp
BLE, WiFi, UWB timestamp
BLE, WiFi, UWB

UWB
TX
Anchor1 timestamp
UWB
P1(x1,y1)
RX1 TX
timestamp timestamp Tag
PT(xt,yt)
Reference Tag
PRT(xR,yR)
The following figure illustrates the timestamp capturing at the transmitter (Tag) TXTi and the receiver (Anchor)
RXAi. The TDoA software application can display these values and the calculated differences of the timestamps
in the PC terminal window. Both nodes are not synchronized and run at their own clock's frequency (fCLKT and
fCLKA); therefore, the deviations between the subsequent ToFi can be observed over time. This software is only
for demonstration purposes, as there is only one Anchor node and no coordinator that performs the TDoA and
multilateration calculations.
Figure 2-3. TDoA Demo Software Application
Tag TX TXT1 TXT2 TXT3

(fCLKT) t
dToF1 = ToF2-ToF1 dToF2 = ToF3-ToF2
Anchor RX
(fCLKA) RXA1 dRXA1 = RXA2-RXA1 RXA2 dRXA2 = RXA3-RXA2 RXA3 t
(TXT1) dTXT1 = TXT2-TXT1 (TXT2) dTXT2 = TXT 3-TXT2 (TXT3)
2.2 DS-TWR
The Double-Sided Two-Way-Ranging application exchanges a sequence of data telegrams between the nodes and
captures the timestamps of these data telegrams at the transmitter and the receiver nodes to measure the distance
between them. This data telegram sequence is necessary to compare the timestamps at each node and compensate
for timestamp clock differences between the nodes.
As the following figure shows, one node is called Tag node, which initiates the message sequence, and the other
node is called Anchor node, which responds to the message sequence. In the end, all timestamp information must be
captured at least at the Anchor node to perform the distance calculation.

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Functional Overview
Figure 2-4. DS-TWR Example Setup
UWB
UWB
Anchor Tag
ToF Measurement
Distance d
The following figure shows the message sequence with data telegrams and captured timestamp information.
Figure 2-5. DS-TWR Message Sequence and Timestamp Capture
TXT1 RXT2 TXT3

Tag
(fCLKT) Tround1 Treply2 t
Calculation at anchor:
Tround1 = RXT2 – TXT1
(TXT1) (TXA2) (TXT3, RXT2)
Treply1 = TXA2 – RXA1
Tround2 = RXA3 – TXA2
Treply2 = TXT3 – RXT2

Treply1 Tround2
Anchor
(fCLKA) RXA1 TXA2 RXA3 t
(TXT1) (TXT3, RXT2)
The first data telegram is transmitted from the Tag to initiate the measurement. The timestamp TXT1 is captured
at the Tag when the first UWB pulse of the data telegram is transmitted. At the Anchor node, this data telegram
is received and the timestamp RXA1 is captured with the reception of the first pulse after the synchronization
word of the data telegram (refer to the ATA8352 Impulse-Radio Ultra-Wideband (IR-UWB) Transceiver User's Guide
(DS50003129) for a description of the data telegram format). With the reception of the data telegram, the Anchor
node also receives the timestamp information TXT1 from the Tag in the payload of the data telegram. After a reply
time (Treply1), the Anchor node responds with a data telegram and captures the timestamps TXA2 at the Anchor node
and RXT2 at the Tag node. This is followed by a third telegram from the Tag node to the Anchor node and timestamp
information TXT3, RXT2 and RXA3. With the third telegram, all timestamps were received by the Anchor node to
perform the calculation of the time differences Tround1, Treply1, Tround2 and Treply2.
The timestamp differences at the Tag node and the Anchor node are, then, calculated as:
Equation 2-1. Tround1
Tround1 = RXT2 − TXT1
Equation 2-2. Tround2

Tround2 = RXA3 − TXA2

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Functional Overview
Equation 2-3. Treply1

Treply1 = TXA2 − RXA1
Equation 2-4. Treply2

Treply2 = TXT3 − RXT2
With these timestamp differences, the Time-of-Flight (ToF) and the distance between the two nodes can be
calculated as described in Equation 2-6 by:
Equation 2-5. Time-of-Flight (ToF)
Tround1 * Tround2 − Treply1 * Treply2
ToF =
Tround1 + Tround2 + Treply1 + Treply2
Equation 2-6. Distance

Distance = ToF * c
Where, c is the propagation speed of light in free air with 299766 km/s.
This measurement is implemented in the DS-TWR demo application software for the UWB demo kit.

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Demo Kit – Software Applications
3. Demo Kit – Software Applications

The TDoA and DS-TWR demo applications are running on the ATA8352 demo kit. For more details, refer to the
ATA8352 Demo and Evaluation Kit User's Guide (DS50003129). The following figure shows that one node is used as
the Tag node and the other node is the Anchor node.
The demo applications are developed using Microchip Studio 7 for the SAM C21 MCU. Both nodes are connected
to a PC with a USB cable, and the virtual COM port connection is used by a PC terminal application to log the
measurement data. For the COM port connection, the setup is:
• Data rate = 115.2 kBaud
• Data = 8-bit
• Parity = No
• Stop bit = 1
Figure 3-1. ATA8352 Demo Kit for TDoA and DS–TWR Application
In the wireless TDoA demo application, the Tag node transmits data telegrams every 2 seconds and the Anchor node
shows the received information in the PC terminal application (see the following figure).
This demo application uses the wireless synchronization to generate an internal synchronization pulse every 170
µs. For more details on the wireless synchronization, refer to the ATA8352 Impulse-Radio Ultra-Wideband (IR-UWB)
Transceiver User's Guide (DS50003125).
The information and counters refer to the description in the ATA8352 Impulse-Radio Ultra-Wideband (IR-UWB)
Transceiver User's Guide (DS50003125) for the TDoA counters bb_t_cnt, sync_cnt and the calculated time
differences (see Figure 2-3). The receive terminal window can also show false data telegram receptions, indicated by
a ‘dot (.)’. These data telegrams are recognized as invalid because of incorrect payload information. After each data
telegram reception (valid or invalid), the receiver is immediately restarted.

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Figure 3-2. Example of Measurement Data for Wireless TDoA Demo Application
The dot indicates an invalid received telegram
Anchor RX Terminal Window
Tag TX Terminal Window
Distance between Tag and Anchor = 43 cm

measurement every 2s (timestamp triggered)
(timestamp offset is not compensated)
In the DS-TWR demo application (refer to the IEEE 802.15.4z–2020 Standard), the Tag node initiates the data
telegram sequence every 2 seconds and the Anchor node responds to it and shows the received information and
calculated ToF and distance in a PC terminal application (see the following figure).
Figure 3-3. Example of Measurement Data of the DS-TWR Demo Application
Anchor Measurement Terminal Window
Tag Trigger Terminal Window
Distance between Tag and Anchor = 43 cm

Measurement every 2s
The DS-TWR demo software application uses the message sequence described in the Figure 2-5 but uses a fourth
data telegram to transmit the timestamp RXT2 to the Anchor node. This implementation ensures the same telegram
length and link budget conditions for all data telegrams. This demo application uses wireless synchronization, as
described earlier.
The Tag PC terminal window shows the data telegram number and the telegram sequence for each measurement
cycle. In addition, the Anchor PC terminal window shows the calculated time differences Tround1, Treply1, Tround2 and
Treply2 with a resolution of 0.1 ns together with the calculated ToF and the distance in cm. With a time resolution of
~165 ps (refer to the ATA8352 Impulse-Radio Ultra-Wideband (IR-UWB) Transceiver User's Guide (DS50003125)), a
distance resolution of 4.5 cm is achievable.
Another Xplained Pro Extension board is available for the Anchor node, which includes two ATA8352 modules
and the logic to create a combined 48 MHz clock/synchronization signal for the wired TDoA synchronization, as
described in the ATA8352 Impulse-Radio Ultra-Wideband (IR-UWB) Transceiver User's Guide (DS50003125). This
allows synchronization of both modules to one clock and synchronization signal generated by the host controller

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MCU in the software application. The following figure illustrates the Anchor node with the Xplained Pro Extension
board and two attached antennas.
Figure 3-4. Anchor Node for Wired TDoA Application
UWB modules
UWB Anchor Node
UWB PCB Antennas
UWB Break-out board

Xplained Pro
SAM C21
Xplained Pro
OLED1
Xplained Pro
The wired TDoA software application that has to be programmed in the Anchor node uses both modules and
determines the timestamp difference between these modules. The following figure illustrates the PC terminal
application window with the recorded information from both modules and the timestamp difference and mean value of
the timestamp difference. This mean value is calculated from the latest 10 measurements and shows a stable value
after the first 10 values of mean_diff = -9 * 165 ps = -1.485 ns, as shown in following figure at position Tag# 18.
The timestamp difference depends on the distance between the two antennas, the cable connection to the ATA8352
antenna connectors and the Tag node's position to the antennas. In the example from the preceding figure, the
two antennas had a distance of 55 cm. This timestamp difference calculates the angle between the Tag node
and the baseline of the two anchor antennas. The application behind is also known as the Angle-of-Arrival (AoA)
measurement.

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Figure 3-5. Example of Measurement Data for Wired TDoA Demo Application
The following figure illustrates the details for the AoA measurement and how to determine the angle (α), and Table
3-1 provides the resulting angle α for measured ToF difference values.
Figure 3-6. Angle-of-Arrival Measurement Setup
al
gn
Si
RF
g
Ta
al
ign
S
RF
g
Ta
ToF difference: dToF
α = AoA
UWB-Antenna 1 Antenna Distance: d UWB-Antenna 2
Angle-of-Arrival: cos α = dToF*c / d

c is speed of light.
Table 3-1. Angle Resolution for Antenna Distance = 55 cm
dToF (165 ps) dToF (cm) α (°)

1 4.5 85.3
2 9.0 80.6
3 13.5 75.8

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...........continued
dToF (165 ps) dToF (cm) α (°)
4 18.0 70.9
5 22.5 65.9
6 27.0 60.6
7 31.5 55.1
8 36.0 49.1
9 40.5 42.6
10 45.0 35.1
11 49.5 25.8
12 54.0 10.9
Due to the time resolution of 165 ps for the timestamps, a distance resolution of about 4.5 cm is achieved. Depending
on the antenna distance (d), an angle can be calculated using the AoA formula shown in the preceding figure. The
table shows that the angle resolution depends on the measured angle and is between 4.7° and 14.9°. The antenna
distance can change this angle resolution; that is, a larger antenna distance gives a better resolution and vice versa.

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ATA8352 TDoA Implementation
4. ATA8352 TDoA Implementation

The following sections describe the TDoA implementation details. For more details, refer to the ATA8352
Impulse-Radio Ultra-Wideband (IR-UWB) Transceiver Data Sheet (DS70005450) and ATA8352 Impulse-Radio Ultra-
Wideband (IR-UWB) Transceiver User's Guide (DS50003125). The TDoA operation is controlled by an additional
register A29 and uses the RX and TX data communication with timestamp capturing and specialized header and
footer sections as well as payload format. The timestamp capturing occurs at different positions while transmitting or
receiving a TDoA data telegram. The TDoA implementation also supports wired and wireless synchronization with
scheduled data telegram transmission.
The Anchor nodes within a TDoA system requires a synchronized clock to determine the timestamp differences. This
can be achieved with the help of wired or wireless synchronization.
In wired synchronization, a common system clock is distributed to all Anchor nodes, which includes the system clock
and the synchronization signal. This is achieved by omitting one clock pulse in the distributed clock signal at regular
intervals. The following figure shows such a 48 MHz clock signal with an omitted clock pulse occurring at every 10
ms.
Figure 4-1. External 48 MHz Clock Signal with Synchronization Pulse
VIN_XTAL 48 MHz External Clock Signal
sync pulse
1.25V
0V t
20.8 ns
In wireless synchronization, each Anchor node has its own 48 MHz clock source. The synchronization is performed
with internally-generated sync pulses occurring every 170 µs and requires a calibration at regular intervals with a
reference Tag device.
The UWB demo kit, as shown in Figure 3-1, supports only wireless synchronization. A specialized UWB TDoA
demo kit with two ATA5352-EB2 modules and clock/synchronization logic supports the generation of the wired
synchronization signal, as shown in the preceding figure.
The following figure shows the hardware implementation of the UWB TDoA demo kit necessary to generate the
combined clock/synchronization signal for the two ATA8352 UWB transceiver modules mounted on the demo kit
PCB.

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Figure 4-2. UWB TDoA External Clock/Synchronization Signal

48 MHz Clock / Synchronisation Generation
D-FlipFlop
Sync_Ena D
SET
Q D
SET
Q OR
AND
Sync
CLR Q CLR Q
48 MHz Inverter Clock/Sync
nReset R1
48 MHz
Buffer
XTALP pin (1.25V)
TX3-Q25MR-48.000M XTALN pin

(48 MHz TXCO) R2
nReset
Sync_Ena
Sync
48MHz
Clock/Sync
The Sync_Ena signal is a high pulse generated within the software application of the host MCU with a typical
duration of ~10 µs and it is generated in regular intervals of about 10 ms. The synchronization pulse hardware
generates the combined Clock/Sync signal on the ATA53UWB-XPRO base board, which is distributed to the two
UWB ATA5352-EB2 modules with the ATA8352 UWB device. A resistor divider on the module adapts the 3.3V
Clock/Sync signal to the 1.25V core domain voltage.
The captured timestamp information from the payload data during TX and RX operation is built with the two counter
bb_t_cnt and sync_cnt, as described in the ATA8352 Impulse-Radio Ultra-Wideband (IR-UWB) Transceiver User's
Guide (DS50003125) in section 5.6 and equation 5-19 with a resolution of ~165 ps. In the case of a missing
synchronization pulse in the wired mode, this equation may result in the wrong timestamp information from different
devices supplied with the combined clock/synchronization signal. In such a case, it might be sufficient to use only the
bb_t_cnt value, but ensure that all modules have recognized the latest sync pulse. This can be checked by reading
the actual sync counter value from register A20 ID = 111 before and after the sync signal.
4.1 Measurement Accuracy

The measurements of the timestamps at the transmitter and receiver is performed at a frequency of 6.048 GHz that
results in a time resolution of ~165 ps, which corresponds to the distance resolution of +/-4.5 cm. Due to physical
effects like jitter and channel effects for the wireless transmissions, the achievable accuracy is less, i.e., the distance
measurement variations are higher. The following figure shows a measurement distribution of 1000 measurements at
a distance of 100 cm. The mean value for the distance is 97.2 cm with a standard deviation of 6.2 cm.

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Figure 4-3. DS-TWR Measurements at 100 cm Distance
DS-TWR @ 100 cm real distance

Mean distance = 97.2 cm (std = 6.2 cm)
Mean tof = 2.74 ns (std = 0.21 ns)
140
120
distance in [cm], tof in [0.1 ns
100
80
60
40
20
0
1
21
41
61
81
101
121
141
161
181
201
221
241
261
281
301
321
341
361
381
401
421
441
461
481
501
521
541
561
581
601
621
641
661
681
701
721
741
761
781
801
821
841
861
881
901
921
941
961
981
samples
tof [0.1 ns] dist [cm]
In addition to the distance, the figure shows the measured time-of-flight in the figure with a mean value of 2.74 ns and
a standard deviation of 0.21 ns.
The Time-of-Flight (ToF) in this example does not include the distance between the ATA8352 device and the antenna,
which is an offset of about 2 * 6.5 cm = 13 cm, corresponding to a ToF offset of 0.43 ns. The calculated distance
shown in the preceding figure includes this offset of 13 cm.
For larger distances or in situations with low Signal-to-Noise Ratio (SNR), an additional offset occurs due to the
shift of the first path signal necessary to capture the timestamps (refer to the Figure 5-23 in ATA8352 Impulse-Radio
Ultra-Wideband (IR-UWB) Transceiver User's Guide (DS50003125)). The following figure shows the histogram of the
measured distances with mean value and standard deviation.

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Figure 4-4. Histogram for DS-TWR Measurements at 100 cm Distance
Histogram of distance measurement @ 100 cm
mean dist = 97.2 cm @ std dev = 6.2 cm

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Document Revision History
5. Document Revision History

Revision Date Section Description
A 07/2021 Document Initial revision

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AN4113
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AN4113

Range Measurement using Time-Difference-of-Arrival of

© 2021 Microchip Technology Inc. Application Note DS00004113A-page 1

3. Demo Kit – Software Applications...........................................................................................................9

4. ATA8352 TDoA Implementation............................................................................................................ 14

5. Document Revision History...................................................................................................................18

The Microchip Website.................................................................................................................................19

Product Change Notification Service............................................................................................................19

Microchip Devices Code Protection Feature................................................................................................ 19

Quality Management System....................................................................................................................... 21

Worldwide Sales and Service.......................................................................................................................22

© 2021 Microchip Technology Inc. Application Note DS00004113A-page 2

1.1 Reference Documentation

1.2 Software Prerequisites

1.3 Hardware Prerequisite

1.4 Acronyms and Abbreviations

DS-TWR Double-Sided Two-Way-Ranging

FIFO First-In First-Out

IRQ Interrupt Request

IR-UWB Impulse-Radio Ultra-Wideband

MCU Microcontroller Unit

SNR Signal-to-Noise Ratio

© 2021 Microchip Technology Inc. Application Note DS00004113A-page 3

© 2021 Microchip Technology Inc. Application Note DS00004113A-page 4

© 2021 Microchip Technology Inc. Application Note DS00004113A-page 5

BLE, WiFi, UWB

Tag TX TXT1 TXT2 TXT3

dToF1 = ToF2-ToF1 dToF2 = ToF3-ToF2

© 2021 Microchip Technology Inc. Application Note DS00004113A-page 6

Figure 2-4. DS-TWR Example Setup

TXT1 RXT2 TXT3

Tround2 = RXA3 – TXA2

Treply2 = TXT3 – RXT2

Equation 2-2. Tround2

© 2021 Microchip Technology Inc. Application Note DS00004113A-page 7

Equation 2-3. Treply1

Equation 2-4. Treply2

Equation 2-6. Distance

© 2021 Microchip Technology Inc. Application Note DS00004113A-page 8

3. Demo Kit – Software Applications

© 2021 Microchip Technology Inc. Application Note DS00004113A-page 9

Tag TX Terminal Window

Distance between Tag and Anchor = 43 cm

Tag Trigger Terminal Window

Distance between Tag and Anchor = 43 cm

© 2021 Microchip Technology Inc. Application Note DS00004113A-page 10

UWB Anchor Node

UWB PCB Antennas

UWB Break-out board

© 2021 Microchip Technology Inc. Application Note DS00004113A-page 11

ToF difference: dToF

UWB-Antenna 1 Antenna Distance: d UWB-Antenna 2

Angle-of-Arrival: cos α = dToF*c / d

Table 3-1. Angle Resolution for Antenna Distance = 55 cm

dToF (165 ps) dToF (cm) α (°)

© 2021 Microchip Technology Inc. Application Note DS00004113A-page 12

© 2021 Microchip Technology Inc. Application Note DS00004113A-page 13