  The paper aims to reveal the relationship between the performance of moving
object tracking algorithms and the tracking anchors (station) deployment. The
Dilution of Precision (DoP) for Time difference of arrival (TDoA) technique
with respect to anchor deployment is studied. Linear estimator and non-linear
estimator are used for TDoA algorithms. The research findings are: for the
linear estimator, the DoP attain a lower value when other anchors are scattered
around a central anchor; for the nonlinear estimator, the DoP is optimal when
the anchors are scattered around the target tag. Experiments on both of the
algorithms are conducted, targeting the location precision related to the
anchors' deployment, with practical situations for tracking moving objects
integrated with a Kalman Filter (KF) in an Ultra-Wide Band (UWB) based
real-time localization system. The work provides a guideline for deploying
anchors in UWB-based tracking systems.
