An Improved Algorithm of UWB Localization System in NLOS
Zhaoxia Zhou, Yixuan Lu, XU Zhong-wei · 2023
Aiming at the inaccuracy of UWB positioning in non-line-of-sight(NLOS) environment, this paper proposes a positioning system that integrates UWB and IMU sensors. Among them, the distance between the base station(BS) and the label is obtained by TDOA ranging method for UWB positioning, and the label position is solved by ordinary least squares The IMU is used to collect the angular velocity and acceleration information and estimate the position of the label with the Pedestrian Dead Reckoning(PDR). The threshold determination method is used to integrate UWB and IMU data to optimize the positioning data. Finally, the trajectory comparison diagram is obtained through experiment and MATLAB simulation. The results show that with the passage of time, a single UWB positioning system will not only be affected by the NLOS situations, but also accumulate time errors due to the use of TDOA ranging method. The positioning errors can be reduced and the trajectory drift can be decreased by integrating IMU sensors.