This paper explores least squares (LS), median (MED), inverse distance weighting (IDW), distance weighted estimator (DWE) and three different weighted least squares (WLS) methods for Ultra-Wideband (UWB) active-passive two-way ranging (AP-TWR) measurement matrix estimation. The proposed methods were tested with practical experiments in line-of-sight (LOS) and two different non-line-ofsight (NLOS) conditions, and were benchmarked against an active-only single-sided two-way ranging (SS-TWR) method. The results show that the proposed methods MED, IDW and DWE achieve comparable standard deviation values, while outperforming the root-mean-squared-error (RMSE) of SS-TWR ranging by up to 14.3% in LOS and 19.08% in NLOS conditions. The experiments validate that the MED, IDW and DWE methods for AP-TWR are NLOS-robust and achieve better RMSE performance than active-only SS-TWR ranging.