  In this paper, an Ultra-Wideband (UWB) positioning system is introduced, that
leverages six identical custom-designed boards, each featuring an ESP32
microcontroller and a DWM3000 module from Quorvo. The system is capable of
achieving localization with an accuracy of up to 10 cm, by utilizing
Two-Way-Ranging (TWR) measurements between one designated tag and five anchor
devices. The gathered distance measurements are subsequently processed by an
Extended Kalman Filter (EKF) running locally on the tag board, enabling it to
determine its own position, relying on fixed, a priori known positions of the
anchor boards. This paper presents a comprehensive overview of the systems
architecture, the key components, and the capabilities it offers for indoor
positioning and tracking applications.
