Table 2.

UWB localization system specifications.

System on Chip	ARM Cortex-M3
Clock speed	32 MHz
Memory	32 KB RAM 512 KB FLASH
Radios	CC2538: IEEE 802.15.4 (2.4 GHz) CC1200: sub-GHz IEEE 802.15.4 g (868 MHz) DW1000: UWB IEEE 802.15.4a (3.5–6 GHz)
Antenna	On-board (CC1200 and CC3538) SMA Connector (DW1000)
Protocol stack	Contiki OS
MAC Design Framework	Time Annotated Instruction Set Computer (TAISC) [33]