DecaWave sell UWB modules that perform real-time location to ~10cm in a controlled environment: http://www.decawave.com/ http://www.decawave.com/ I imagine tha

DecaWave sell UWB modules that perform real-time location to ~10cm in a controlled environment: http://www.decawave.com/ http://www.decawave.com/ I imagine that they use a system which is not too different to the way GPS combines the signals from multiple satellites to calculate the receiver location. When you receive have a receive lock against multiple receivers, the spreading code allows you to determine time of flight to the nearest carrier cycle, and the carrier phase can provide even more precise timing. See also: https://en.wikipedia.org/wiki/Multilateration https://en.wikipedia.org/wiki/Multilateration