“…Similar accuracy levels (0.5-20 cm) have been achieved for both carrier-based Waldmann, 2008;McEwan, 2004) and impulse-based (Low, 2005;Zetik, 2004;Ossberger, 2004;Fuiji, 2007) UWB positioning systems, although carrier-based systems have shown the potential for mm and sub-mm range accuracy even for 3-D indoor environments McEwan, 2004). FMCW has proven to be a successful competing technology for high accuracy positioning systems (Stelzer, 1999Mosshammer, 2007;Tragas, 2007;Feger, 2009). In the 5.8 GHz band for industrial, medical, and scientific (ISM) applications, documented accuracy of 5-20 cm for 2-D has been achieved Mosshammer, 2007;Tragas, 2007).…”