基于移动节点辅助定位的 UWB 室内定位方法

Aiming at the problem that the indoor positioning accuracy of UWB is easily affected by the environment, a moving node auxiliary positioning method is proposed under the condition of low speed and multiple nodes. A queue that stores increment is set up to eliminate outliers, and the least square method is used to calculate the initial location value. By substituting the initial location value into the extended Kalman filter algorithm, the updated positioning result is more accurate. When the mobile node is in a static or low-speed state, its calculated coordinates are more accurate, and it can be regarded as a fixed node with known coordinates to improve the positioning accuracy of other mobile nodes. Experimental results show that in the same experimental environment, the root mean square error of positioning for the proposed method is reduced by 15.89% and 16.45%, and the maximum absolute positioning error is reduced by 60.99% and 62.77% respectively, compared with the least square method and Chan algorithm.