Accurate indoor positioning with ultra-wide band sensors

Abstract

Ultra-wide band is one of the emerging indoor positioning technologies. In the application phase, accuracyand interference are important criteria of indoor positioning systems. Not only the method used in positioning, but alsothe algorithms used in improving the accuracy is a key factor. In this paper, we tried to eliminate the effects of off-setand noise in the data of the ultra-wide band sensor-based indoor positioning system. For this purpose, optimizationalgorithms and filters have been applied to the raw data, and the accuracy has been improved. A test bed with thedimensions of 7.35 m × 5.41 m and 50 cm × 50 cm grids has been selected, and a total of 27,000 measurements havebeen collected from 180 test points. The average positioning error of this test bed is calculated as 16.34 cm. Then,several combinations of algorithms are applied to raw data. The combination of Big Bang-Big Crunch algorithm foroptimization, and then the Kalman Filter have yielded the most accurate results. Briefly, the average positioning errorhas been reduced from 16.34 cm to 7.43 cm.