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& evidence","url":"https://ptob.dev/research/"}],"text":"# A Shared Time Base for Indoor PNT: PToB Sensor Fusion, Selective UWB Augmentation, and a Validation Programme\n\nResearch draft  26 October 2026  14 pages · PDF\n\nCould shared event time improve indoor sensor fusion while retaining independently qualified ranging?\n\n[Read PDF](https://ptob.dev/papers/preview/?file=%2Fpapers%2Fptob-indoor-pnt-20261026.pdf)[Cite this edition](https://ptob.dev/research/indoor-pnt-sensor-fusion/#citation)\n\n## Overview\n\nThe paper proposes PToB time beneath inertial, visual, wheel, pressure, magnetic and acoustic observations, with optional UWB and surveyed landmarks. It separates sensor-motion timing budgets from propagation-time ranging budgets and defines a staged indoor evaluation.\n\n## What this paper covers\n\n- Separate temporal alignment of sensor events from radio ranging accuracy.\n- Carry clock uncertainty and correlated errors into a navigation estimator.\n- Evaluate a proposed two-layer timing and positioning architecture against independent ground truth.\n\n## Research scope\n\nNo new indoor localization experiment or demonstrated UWB integration is reported. Navigation targets, cost inputs and pilot scenarios are hypothetical. GNSS equivalence, indoor position accuracy, fine UWB synchronization, energy savings and interoperability remain unqualified.\n\n## Read it in context\n\nThis sensor-fusion architecture complements the separate PToB-IPS surveyed-beacon concept. Existing W12 timing data motivate the direction without establishing an indoor positioning result.\n\n[Source and publication record](https://github.com/yantisj2/PToB/tree/main/papers/indoor-pnt)[Surveyed BLE beacon research](https://ptob.dev/research/indoor-positioning-ble-beacons/)\n\n## Cite this edition\n\nJonathan Yantis. A Shared Time Base for Indoor PNT: PToB Sensor Fusion, Selective UWB Augmentation, and a Validation Programme. 26 October 2026. Research draft. [Original PDF](https://ptob.dev/papers/preview/?file=%2Fpapers%2Fptob-indoor-pnt-20261026.pdf).\n\nSummary permalink: [https://ptob.dev/research/indoor-pnt-sensor-fusion/](https://ptob.dev/research/indoor-pnt-sensor-fusion/)\n\nJonathan Yantis leads protocol design, hardware development and research. GPT 6.1 contributes implementation, analysis and documentation. This page summarizes the linked edition; retain its original evidence dates and measurement references.\n\n## The full paper\n\nThe original document includes the technical detail and references behind this summary.\n\n[Read PDF](https://ptob.dev/papers/preview/?file=%2Fpapers%2Fptob-indoor-pnt-20261026.pdf)\n[Cite this edition](https://ptob.dev/research/indoor-pnt-sensor-fusion/#citation)\n\n[Paper sources on GitHub](https://github.com/yantisj2/PToB/blob/main/papers/README.md)\n\n## Continue exploring\n\n[Indoor positioning with BLE timing beacons](https://ptob.dev/research/indoor-positioning-ble-beacons/)[A shared time base for robotics](https://ptob.dev/research/robotics-gptp-tsn/)[From software clocks to physical synchronization](https://ptob.dev/research/white-rabbit-physical-synchronization/)[Bluetooth timecode ecosystems](https://ptob.dev/research/bluetooth-timecode-ecosystems/)[All research & evidence](https://ptob.dev/research/)"}}