Research on a factor graph-based robust UWB positioning algorithm in NLOS environments

Xin Li () and Yang Wang
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Xin Li: China University of Mining and Technology
Yang Wang: China University of Mining and Technology

Telecommunication Systems: Modelling, Analysis, Design and Management, 2021, vol. 76, issue 2, No 4, 207-217

Abstract: Abstract In a non-line-of-sight (NLOS) environment, ultra-wide band (UWB) high accuracy positioning has been one of the hot topics in studying indoor positioning. In this paper, a factor graph-based UWB positioning algorithm has been proposed based on an improved Turkey robust kernel. It has overcome not only the defect of the least squares algorithm for UWB positioning against non-Gaussian noise but also eliminated the shortcoming of Turkey robust kernel against over-optimization. Aiming at the character of UWB data generally larger than its true value due to barriers, robust kernel will be added into merely big ranging data. However, due to the presence of small ranging data possibly caused by error positioning, the squares of residuals will be taken as the optimized objective function. The experimental result proves that UWB positioning algorithm based on the improved Turkey robust kernel outperforms ordinary UWB positioning algorithms in NLOS environments, with the average positioning accuracy improved by around 20–30%.

Keywords: UWB positioning; NLOS; Turkey robust kernel; Factor graph (search for similar items in EconPapers)
Date: 2021
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Citations: View citations in EconPapers (1)

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DOI: 10.1007/s11235-020-00709-2

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