--- title: "Indoor PNT and sensor fusion — PToB research" description: "A proposed event-time layer for indoor sensor fusion, with selective UWB, separate motion/ranging budgets and a falsifiable validation programme." url: "https://ptob.dev/research/indoor-pnt-sensor-fusion/" language: "en" robots: "index, follow, max-image-preview:large, max-snippet:-1, max-video-preview:-1" representations: {"application/json":"https://ptob.dev/research/indoor-pnt-sensor-fusion/?format=json","text/markdown":"https://ptob.dev/research/indoor-pnt-sensor-fusion/?format=markdown"} format_description: "https://ptob.dev/agent-formats.json" --- # A Shared Time Base for Indoor PNT: PToB Sensor Fusion, Selective UWB Augmentation, and a Validation Programme Research draft 26 October 2026 14 pages · PDF Could shared event time improve indoor sensor fusion while retaining independently qualified ranging? [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) ## Overview The 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. ## What this paper covers - Separate temporal alignment of sensor events from radio ranging accuracy. - Carry clock uncertainty and correlated errors into a navigation estimator. - Evaluate a proposed two-layer timing and positioning architecture against independent ground truth. ## Research scope No 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. ## Read it in context This sensor-fusion architecture complements the separate PToB-IPS surveyed-beacon concept. Existing W12 timing data motivate the direction without establishing an indoor positioning result. [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/) ## Cite this edition Jonathan 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). Summary permalink: [https://ptob.dev/research/indoor-pnt-sensor-fusion/](https://ptob.dev/research/indoor-pnt-sensor-fusion/) Jonathan 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. ## The full paper The original document includes the technical detail and references behind this summary. [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) [Paper sources on GitHub](https://github.com/yantisj2/PToB/blob/main/papers/README.md) ## Continue exploring [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/) ## Structured data ```json { "@context": "https://schema.org", "@graph": [ { "@type": "WebSite", "@id": "https://ptob.dev/#website", "url": "https://ptob.dev/", "name": "PToB", "alternateName": [ "Precision Time over BLE", "Precision Time over Bluetooth" ], "description": "Bluetooth and USB software clocks: W12 60.3 ns relative-PPS RMS over 522/600 observations, separate 64 s sampled holdover, and CoreSE diagnostics.", "inLanguage": [ "en", "de" ], "publisher": { "@id": "https://ptob.dev/#jonathan-yantis" } }, { "@type": "Person", "@id": "https://ptob.dev/#jonathan-yantis", "name": "Jonathan Yantis", "url": "https://github.com/yantisj2/PToB/blob/main/CREDITS.md" }, { "@type": "Project", "@id": "https://ptob.dev/#project", "name": "PToB", "alternateName": "Precision Time over BLE", "url": "https://ptob.dev/", "description": "An independent protocol project researching precision time transfer across Bluetooth-enabled microcontrollers and USB clients.", "sameAs": "https://github.com/yantisj2/PToB", "member": { "@id": "https://ptob.dev/#jonathan-yantis" }, "knowsAbout": { "@id": "https://ptob.dev/#protocol" } }, { "@type": "Thing", "@id": "https://ptob.dev/#protocol", "name": "Precision Time over BLE", "alternateName": "PToB", "description": "An experimental PTP-inspired protocol proposal for wireless clock synchronization over Bluetooth Low Energy." }, { "@type": "WebPage", "@id": "https://ptob.dev/research/indoor-pnt-sensor-fusion/#webpage", "url": "https://ptob.dev/research/indoor-pnt-sensor-fusion/", "name": "Indoor PNT and sensor fusion — PToB research", "description": "A proposed event-time layer for indoor sensor fusion, with selective UWB, separate motion/ranging budgets and a falsifiable validation programme.", "inLanguage": "en", "keywords": [ "Bluetooth clock synchronization", "Precision Time over BLE", "Applications & future hardware" ], "isPartOf": { "@id": "https://ptob.dev/#website" }, "author": { "@id": "https://ptob.dev/#jonathan-yantis" }, "about": { "@id": "https://ptob.dev/#protocol" }, "dateModified": "2026-10-30", "image": "https://ptob.dev/social/ptob-timing-v3.jpg", "breadcrumb": { "@id": "https://ptob.dev/research/indoor-pnt-sensor-fusion/#breadcrumbs" }, "mainEntity": { "@id": "https://ptob.dev/papers/ptob-indoor-pnt-20261026.pdf#article" } }, { "@type": "BreadcrumbList", "@id": "https://ptob.dev/research/indoor-pnt-sensor-fusion/#breadcrumbs", "itemListElement": [ { "@type": "ListItem", "position": 1, "name": "PToB", "item": "https://ptob.dev/" }, { "@type": "ListItem", "position": 2, "name": "Bluetooth and Starlink timing research and results", "item": "https://ptob.dev/research/" }, { "@type": "ListItem", "position": 3, "name": "Indoor PNT and sensor fusion", "item": "https://ptob.dev/research/indoor-pnt-sensor-fusion/" } ] }, { "@type": "ScholarlyArticle", "@id": "https://ptob.dev/papers/ptob-indoor-pnt-20261026.pdf#article", "url": "https://ptob.dev/research/indoor-pnt-sensor-fusion/", "headline": "A Shared Time Base for Indoor PNT: PToB Sensor Fusion, Selective UWB Augmentation, and a Validation Programme", "name": "A Shared Time Base for Indoor PNT: PToB Sensor Fusion, Selective UWB Augmentation, and a Validation Programme", "description": "A proposed event-time layer for indoor sensor fusion, with selective UWB, separate motion/ranging budgets and a falsifiable validation programme.", "author": { "@id": "https://ptob.dev/#jonathan-yantis" }, "datePublished": "2026-10-26", "dateModified": "2026-10-26", "inLanguage": "en", "creativeWorkStatus": "Research draft", "about": { "@id": "https://ptob.dev/#protocol" }, "mainEntityOfPage": { "@id": "https://ptob.dev/research/indoor-pnt-sensor-fusion/#webpage" }, "image": "https://ptob.dev/social/ptob-timing-v3.jpg", "encoding": { "@type": "MediaObject", "contentUrl": "https://ptob.dev/papers/ptob-indoor-pnt-20261026.pdf", "encodingFormat": "application/pdf" }, "isPartOf": { "@id": "https://ptob.dev/research/#webpage" } } ] } ```