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In a real-time locating system which does not require time synchronization among nodes, it takes a very long time to complete a ranging process for a single location estimation. Long ranging time makes mobile nodes consume a significant amount of battery power and limits the number of mobile nodes that a single fixed node can handle during a specific time interval. Therefore, it is crucial to shorten the ranging time in asynchronous locating systems without degradation in ranging or locatingdoi:10.1109/wpnc.2009.4907809 dblp:conf/wpnc/Kim09 fatcat:7lqtpjcuyvbzfenlqyau2x6pmy