Ultra-wideband impulse radio ranging (or UWB-IR ranging) is a wireless positioning technology based on IEEE 802.15.4z standard,[1] which is a wireless communication protocol introduced by IEEE, for systems operating in unlicensed spectrum, equipped with extremely large bandwidth transceivers. UWB enables very accurate ranging[2] (in the order of centimeters) without introducing significant interference with narrowband systems. To achieve these stringent requirements, UWB-IR systems exploit the available bandwidth[3] (which exceeds 500 MHz for systems compliant to IEEE 802.15.4z protocol) that they support, which guarantees very accurate timing (and thus ranging) and robustness against multipath, especially in indoor environments.[4] The available bandwidth also enables UWB systems to spread the signal power over a large spectrum[5] (this technology is thus called spread spectrum[6]), avoiding narrowband interference.[7][8][9]