Ultra Wideband indoor positioning method based on Kalman filter and Taylor algorithm

Abstract

So as to solve the problem that the non-line-of-sight (NLOS) error caused by the indoor complicated environment affects the positioning accuracy of Ultra Wideband (UWB) technology, an indoor collaborative positioning algorithm supported by Kalman and Taylor algorithm is proposed during this paper. Firstly, the ranging value obtained by UWB technology is filtered by incremental Kalman filter to eliminate the influence of NLOS error and measurement system error. Then, taking the calculation result of the least square method (LSM) as the initial value, the Taylor algorithm is used for iteration to realize the positioning. The experimental results show that the method can effectively eliminate the interference of complex environment in the positioning system, decrease the NLOS error and improve the precision of positioning.