Refined location estimates using ultra-wideband communication links

A mobile device comprising:

• a location sensor configured to determine an estimate of a current location of the first mobile device;
• an ultra-wideband (UWB) transceiver configured to establish respective UWB communication links between the first mobile device and at least one nearby mobile device;
• and
• one or more processors configured to:
• generate, using the respective UWB communication links, a UWB topology that includes relative locations of:
• the first mobile device;
• and
• the at least one nearby mobile device;
• obtain an estimate of the respective current location of the at least one nearby mobile device;
• compare, using at least one orientation parameter, the relative locations in the UWB topology to the estimate of the respective current locations of:
• the mobile device;
• and
• the first at least one nearby mobile device;
• and
• refine the estimate of the current location of the first mobile device, the refined estimate of the current location having a greater accuracy than the estimate of the current location of the first mobile device.

A hardware-based computer-readable storage medium comprising instructions that, when executed, direct one or more processors of a first mobile device to:

• determine, using a location sensor, an estimate of a current location of the first mobile device;
• generate, using a respective ultra-wideband (UWB) communication link between the first mobile device and at least one nearby mobile device, a UWB topology that includes relative locations of:
• the first mobile device;
• and
• the at least one nearby mobile device;
• obtain an estimate of the respective current location of the at least one nearby mobile device;
• compare, using at least one orientation parameter, the relative locations in the UWB topology to the estimate of the respective current locations of:
• the first mobile device;
• and
• the at least one nearby mobile device;
• and
• refine, based on the comparison, the estimate of the current location of the first mobile device, the refined estimate of the current location having a greater accuracy than the estimate of the current location of the first mobile device.