An Accurate Indoor User Position Estimator For Multiple Anchor UWB Localization
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Date
2020
Journal Title
Journal ISSN
Volume Title
Publisher
IEEE
Abstract
UWB-based positioning systems have
been proven to provide a significant high level of accuracy
hence offering a huge potential for a variety
of indoor applications. However, the major challenges
related to UWB localization are multipath effects, excess
delay, clock drift, signal interferences and system
computational time to estimate the user position. To
compensate for these challenges, the UWB system uses
multiple anchors in the experiment area and this gives
accurate position results with minimum localization
errors. However, the use of multiple anchors in the
UWB system means processing large amounts of data
in the system controller for localization, which leads
to high computational time to estimate the current
user position. To reduce the complexity of the UWB
systems, we propose a position estimator for multiple
anchor indoor localization, which uses the extended
Kalman filter (EKF). The proposed UWB-EKF estimator
was mathematically analysed and the simulation
results were compared with classical localization
algorithms considering the mean localization errors. In
the simulation, three classical localization algorithms:
linearized least square estimation (LLSE), weighted
centroid estimation (WCE) and maximum likelihood
estimation (MLE) were used for performance comparison.
Thorough extensive simulation done in this study
achieves results which demonstrate the effectiveness of
the proposed UWB-EKF estimator for multiple anchor
UWB indoor localization.
Description
Keywords
Indoor localization, Ultra-wide band (UWB), Time of arrival (TOA), Extended Kalman filter (EKF), Least square estimation, Weighted centroid estimation, Maximum likelihood estimation
Citation
Poulose, A., Emeršič, Ž., Eyobu, O. S., & Han, D. S. (2020, October). An accurate indoor user position estimator for multiple anchor uwb localization. In 2020 international conference on information and communication technology convergence (ICTC) (pp. 478-482). IEEE.