TWR singel sided or double sided?


In the document “DWM1001 System Overview And Performance”, Version 2.0 it states: “The DRTLS uses a single-sided TWR scheme…”

In the document “APS013 APPLICATION NOTE The implementation of two-way ranging with the DW1000”, version 2.3 it states: “Asymmetric double sided TWR method is used in Decawave’s implementation”.

Can someone clarify when what is used concerning TWR method?

Hej Hans-Petter,

The statement in APS013, refers to our DecaRaging software implemented in TREK1000/EVK1000. But you’re right, in MDEK we use SS-TWR in PANS R2 ( for power consumption reasons and the fact that the Locating engine sits in the tag).

Kind Regards,

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Is there a source code about the asymmetric ranging scheme, Ranging to N anchors with just N+2 messages where each anchor calculates its own range result?

Yes there is, see TREK Source code. You can download it from:


Thank you very much :wink: