Knowing the pose of a robot is essential for the successful execution of most of the tasks it usually performs. Consequently, mobile robot localization becomes a crucial problem to address. Odometry is a commonly used technique for the localization of Unmanned Ground Vehicles (UGVs). It exploits the information coming from the wheel encoders and the inertial measurement unit (IMU) to estimate the pose of the robot. However, it is very sensible to slippage, and, since it calculates the position by integrating the encoders' data, it accumulates errors, becoming more and more inaccurate in short time. For GPS-denied zones and indoor environments, Ultra-Wideband (UWB) seems to be a promising technique for the precise tracking of moving objects.