AB-Sync: Attention-Based Slot-Level Clock Synchronization Method for UWB-TDOA Localization Networks

2026-06-26

AI Summary

This study addresses the temporal granularity mismatch between clock calibration during synchronization and short-slot tag localization in UWB-TDOA positioning systems, which induces residual TDOA errors and limits localization accuracy. To resolve this issue, the authors propose AB-Sync, a novel method that, for the first time, integrates an attention mechanism into UWB clock synchronization. AB-Sync models the relationship between the clock rate ratio required for a target tag’s time slot and neighboring observations of clock fluctuations, enabling slot-level timestamp mapping without additional synchronization messages. Implemented within a TDMA framework, this approach effectively overcomes the granularity mismatch inherent in conventional synchronization strategies. Experimental results demonstrate that AB-Sync reduces the standard deviation of multi-anchor TDOA ranging by 9.4% and improves static localization accuracy by 18.6% compared to the state-of-the-art Deferred+3S-KF baseline. In a five-slot multi-tag scenario, it further enhances per-slot localization stability by an average of 5.3%, with gains reaching up to 16.2%.

Abstract

Ultra-wideband (UWB) time-difference-of-arrival (TDOA) localization networks provide high-update-rate indoor location services for IoT and cyber-physical applications, but their accuracy depends on nanosecond-level clock synchronization among anchors. Existing wireless clock synchronization (WCS) methods typically estimate clock states at the synchronization-stage or interval level, whereas TDMA-based UWB-TDOA systems localize tags from blinks transmitted in discrete short slots inside each synchronization stage. We identify this granularity mismatch as a source of residual TDOA error and present AB-Sync, an attention-based slot-level clock synchronization method. AB-Sync models the relationship between the slot-specific clock-speed ratio required by a target tag blink and neighboring clock-fluctuation observations, thereby enabling tag-slot-level timestamp mapping without adding extra UWB synchronization messages. On a real UWB-TDOA testbed, AB-Sync reduces the multi-anchor average TDOA ranging STD.V by 9.4% and improves representative static localization accuracy by 18.6% compared with Deferred+3S-KF, the leading low-overhead baseline in our evaluation. In a five-slot multi-tag experiment, AB-Sync consistently improves localization stability across all TDMA slots, reducing STD.V by 5.3% on average and up to 16.2% per slot with no extra UWB synchronization overhead.

Problem

• UWB-TDOA
• clock synchronization
• slot-level
• granularity mismatch
• TDOA error

Innovation

• attention-based synchronization
• slot-level clock modeling
• UWB-TDOA localization
• granularity mismatch
• clock fluctuation