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在UWB（Ultra-Wideband）高精度定位中，双边双向测距（Two-Way Ranging, TWR / Double-Sided TWR） 是消除标签与锚点间时钟偏移、获得纳秒级飞行时间（ToF）的主流方法。本文基于Decawave DW1000/DW3000寄存器模型，给出DS-TWR计算流程、时间戳处理要点及常见误差抑制手段。