Robust Self-Calibration for Rectangle Shape UWB Anchor Locations

A self-calibration algorithm of UWB anchor positions is proposed. It is assumed that anchor position is a rectangle shape and a mobile node is placed inside the rectangle. With this assumption, an algorithm is proposed to give at most three possible anchor positions, where two measurement data (each contains four distance between a mobile node and four anchor nodes) are used. Using this algorithm, a robust self-calibration algorithm is proposed using the M-estimator sample and consensus method. Through simulations and experiments, the proposed algorithm is verified.