In many applications, the positioning of autonomous systems relies mainly on GPS/RTK. However, when such vehicles are in enclosed spaces or even under roofs or trees, GPS/RTK may not be stable or even unavailable. In such cases, UWB localization can be a useful alternative. Typically, several UWB beacons are used to measure the time of flight of the UWB signals between the vehicle and these beacons. If the positions of the beacons are known, the position of the vehicle can be determined.