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Yu-Yao Chen, Shih-Ping Huang, Ting-Wei Wu, Wei-Ting Tsai, Chong-Yi Liou, and Shau-Gang Mao. legend of fu yao 2020 UWB System for Indoor Positioning and Tracking With Arbitrary Target Orientation, Optimal Anchor Location, and Adaptive NLOS Mitigation IEEE Transactions on Vehicular Technology 69, 9 (2020), 9304--9314 Google Scholar