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原文摘要

Concurrent transmissions (CTX) enable an ultra-wideband (UWB) tag to range to, or self-localize from, multiple nodes with a single frame reception, significantly improving update rate and energy efficiency compared to traditional approaches. Prior work demonstrated the concept feasibility via prototypes whose real-world applicability is however hindered by many limitations, notably including their inability to directly execute on UWB tags and to cope with interfering UWB signals. We address these limitations in two ways. First, we redesign the core CTX techniques to enable a fast and efficient execution on resource-constrained MCUs without sacrificing accuracy. Second, we leverage the new features in the IEEE 802.15.4z standard to achieve robustness to interference from other UWB devices and enable tags to dynamically select which anchors to use, two crucial and unexplored capabilities in CTX-based systems. We quantitatively evaluate our approach experimentally in two real-world testbeds with different characteristics. We first analyze our new techniques individually, offering an in-depth discussion of design choices and performance trade-offs. Then, we embed all our techniques into a CTX-based system enabling a tag to self-localize entirely on-device, unlocking gains up to 44% in runtime and 85% in energy efficiency compared to traditional approaches.