  Accurate and low-power indoor localization is becoming more and more of a
necessity to empower novel consumer and industrial applications. In this field,
the most promising technology is based on UWB modulation; however, current UWB
positioning systems do not reach centimeter accuracy in general deployments due
to multipath and nonisotropic antennas, still necessitating several fixed
anchors to estimate an object's position in space. This article presents an
in-depth study and assessment of angle of arrival (AoA) UWB measurements using
a compact, low-power solution integrating a novel commercial module with phase
difference of arrival (PDoA) estimation as integrated feature. Results
demonstrate the possibility of reaching centimeter distance precision and ang
2.4 average angular accuracy in many operative conditions, e.g., in a ang 90
range around the center. Moreover, integrating the channel impulse response,
the phase differential of arrival, and the point-to-point distance, an error
correction model is discussed to compensate for reflections, multipaths, and
front-back ambiguity.
