Double-sided clock synchronization for multipath ultrawideband nodes

A method for configuring anchor devices, the method comprising:

• determining distances between a plurality of anchor devices within an environment based on double-sided measurements;
• identifying obstructions within the environment based on the distances between the plurality of anchor devices;
• grouping anchors into a plurality of anchor groups with each anchor group including an initiating anchor device and follower anchor devices;
• transmitting an anchor configuration including a measurement schedule related to monitoring obstructions within the environment, the measurement schedule including information pertaining to a measurement frequency of a single-sided measurement and a measurement frequency of the double-sided measurement associated with the initiating anchor device and the follower anchor devices;
• and
• generating a heat map or a graph identifying line of sight (LOS) obstructions within an environment;
• and
• using the heat map or the graph, generating anchor-tag pairings to prevent dead zones for tag devices within communication range of the plurality of anchor devices in the environment.

An apparatus for tracking location by a positioning service, comprising:

• a storage configured to store instructions;
• a processor configured to execute the instructions and cause the processor to:
• receive distance measurements from a first anchor device;
• determine a trust value associated with a path between the first anchor device and a second anchor device based on the distance measurements, wherein the trust value corresponds to whether the path is obstructed, and wherein the path deviates from an expected distance between the first anchor device and the second anchor device;
• determine a first measurement interval to measure a distance from the first anchor device to the second anchor device based on a single-sided measurement and a second measurement interval to measure the distance from the first anchor device to the second anchor device based on a double-sided measurement;
• send an anchor configuration to the first anchor device including the first measurement interval for the single-sided measurement and the second measurement interval for the double-sided measurement of the second anchor device;
• generate a heat map or a graph identifying line of sight (LOS) obstructions within an environment;
• and
• using the heat map or the graph, generate anchor-tag pairings to prevent dead zones for tag devices within communication range of at least the first anchor device and the second anchor device in the environment.