Performance analysis of the SDS-TWR-MA algorithm

In this paper we evaluate the performance of the SDS-TWR-MA (Symmetric Double-Sided Two-Way Ranging with Multiple Acknowledgement) algorithm. The main idea of the ranging algorithm, which proposed in our previous work [5], is to reply with multiple acknowledgement packets to a single ranging request. The algorithm reduces the number of packets used for ranging process especially when we iterate it several times to yield a stabler ranging result. According to our analysis, the proposed ranging algorithm can reduce the ranging time by 30% or more, while keeping the locating accuracy high. Furthermore, the proposed algorithm allows us to use a coarse oscillator for precise location positioning by diminishing the influence of clock offset or clock drift.