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Best Paper of the Best Paper Session @ 11th International Conference on Indoor Positioning and Indoor Navigation (IPIN) 2021

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Image of the award winner and of the award © CNI

We are delighted to announce that the contribution “Accurate Multi-Zone UWB TDOA Localization utilizing Cascaded Wireless Clock Synchronization” by Johannes Friedrich, Janis Tiemann and Christian Wietfeld, was awarded as the Best Paper of the Best Paper Session in the 11th International Conference on Indoor Positioning and Indoor Navigation (IPIN) 2021. The conference with a focus on wireless localization co-sponsored by several IEEE chapters, took place in December in Lloret de Mar, Spain. Within the context of the BMBF-funded project CELIDON (Support of rescue forces through localization in training and rescue operations) as well as the DFG Cooperative Research Centre 876, the research presented in this paper demonstrated methods of improving localization accuracy in highly challenging multi-zone environments such as a firefighter training facility in Dortmund.

A preprint of the authors' version is accessible here, but will also be available in the coming weeks in the IEEE Xplore electronic proceedings. Please see also the video of the project CELIDON here. More information about the Cooperative Research Centre 876, sub project A4, can be found here.


The high popularity of ultra-wideband technology for accurate indoor positioning in industrial and public spaces has led to a large amount of research in recent years. The focus has mostly been on localization accuracy in small-scale setups with a single localization zone. However, solutions designed for line-of-sight environments are not suitable for many large-scale applications. To overcome this lack of research, we propose novel concepts for precise wireless multi-hop clock synchronization and localization zone selection. By integration into a time-difference-of-arrival-based ultra-wideband localization scheme, continuous cross-spatial positioning in large-scale scenarios is enabled. Validation is carried out in an unprecedented testbed with multiple rooms. We could show that positioning accuracy in multi-room scenarios is up to three times higher when exploiting the proposed concepts compared to the initial accuracy achieved with existing approaches. In addition, we provide an open-source implementation of our real-time localization system.

Location & approach

The campus of TU Dort­mund University is located close to interstate junction Dort­mund West, where the Sauerlandlinie A 45 (Frankfurt-Dort­mund) crosses the Ruhrschnellweg B 1 / A 40. The best interstate exit to take from A 45 is “Dort­mund-Eichlinghofen” (closer to South Campus), and from B 1 / A 40 “Dort­mund-Dorstfeld” (closer to North Campus). Signs for the uni­ver­si­ty are located at both exits. Also, there is a new exit before you pass over the B 1-bridge leading into Dort­mund.

To get from North Campus to South Campus by car, there is the connection via Vogelpothsweg/Baroper Straße. We recommend you leave your car on one of the parking lots at North Campus and use the H-Bahn (suspended monorail system), which conveniently connects the two campuses.

TU Dort­mund University has its own train station (“Dort­mund Uni­ver­si­tät”). From there, suburban trains (S-Bahn) leave for Dort­mund main station (“Dort­mund Hauptbahnhof”) and Düsseldorf main station via the “Düsseldorf Airport Train Station” (take S-Bahn number 1, which leaves every 20 or 30 minutes). The uni­ver­si­ty is easily reached from Bochum, Essen, Mülheim an der Ruhr and Duisburg.

You can also take the bus or subway train from Dort­mund city to the uni­ver­si­ty: From Dort­mund main station, you can take any train bound for the Station “Stadtgarten”, usually lines U41, U45, U 47 and U49. At “Stadtgarten” you switch trains and get on line U42 towards “Hombruch”. Look out for the Station “An der Palmweide”. From the bus stop just across the road, busses bound for TU Dort­mund University leave every ten minutes (445, 447 and 462). Another option is to take the subway routes U41, U45, U47 and U49 from Dort­mund main station to the stop “Dort­mund Kampstraße”. From there, take U43 or U44 to the stop “Dort­mund Wittener Straße”. Switch to bus line 447 and get off at “Dort­mund Uni­ver­si­tät S”.

The AirportExpress is a fast and convenient means of transport from Dortmund Airport (DTM) to Dortmund Central Station, taking you there in little more than 20 minutes. From Dortmund Central Station, you can continue to the university campus by interurban railway (S-Bahn). A larger range of international flight connections is offered at Düsseldorf Airport (DUS), which is about 60 kilometres away and can be directly reached by S-Bahn from the university station.

The H-Bahn is one of the hallmarks of TU Dort­mund University. There are two stations on North Campus. One (“Dort­mund Uni­ver­si­tät S”) is directly located at the suburban train stop, which connects the uni­ver­si­ty directly with the city of Dort­mund and the rest of the Ruhr Area. Also from this station, there are connections to the “Technologiepark” and (via South Campus) Eichlinghofen. The other station is located at the dining hall at North Campus and offers a direct connection to South Campus every five minutes.

The facilities of TU Dortmund University are spread over two campuses, the larger Campus North and the smaller Campus South. Additionally, some areas of the university are located in the adjacent “Technologiepark”.

Site Map of TU Dortmund University (Second Page in English).