Ultra-Wideband (UWB) is being extensively introduced in various kinds of both human and robot positioning systems. From industrial robotic tasks to drones used for search and rescue operations, this high-accuracy technology allows to locate a target with an error of just a few centimeters, outperforming other existing low-cost ranging methods like Bluetooth and Wi-Fi. This led Apple to equip the latest IPhone 11 with an UWB module specifically for precise localization applications. Unfortunately, this technology is proved to be very accurate only in Line-Of-Sight (LOS). Indeed, performances degrade significantly in Non-Line-Of-Sight (NLOS) scenarios, where walls, furniture or people obstruct the direct path between the antennas.