A High-precision Dynamic Indoor Localization Algorithm Based on UWB Technology

In traditional UWB (Ultra-wideband) indoor Iocalization algorithms, motion information and position changing of the target within a set of observation sequences is generally ignored, which makes it difficult to achieve high-precision positioning for dynamic targets, especially for high-speed moving objects. In this paper, a high-precision dynamic UWB indoor Iocalization algorithm considering speed parameters is proposed. This algorithm introduces speed parameters of the target to estimate its position changing within a set of observation sequences when establishing observation equations. Also, the virtual observations and prior constraints about the speed parameters are utilized to resolve the rank deficiency problem resulted by introducing speed parameters. The experimental results show that the proposed algorithm can make full use of the prior knowledge of the target motion and achieve real-time, stable and precise Iocalization for moving targets, without increasing any hardware cost.