A Novel UWB indoor Localization Algorithm based on TDOA in LOS/NLOS Environment

This paper considers the ultra-wideband (UWB) positioning with anti-interference capability based on TDOA in indoor hybrid LOS/NLOS environment. To reduce the influence of NLOS, this algorithm computes the initial positioning coordinates using a particle swarm optimization (PSO) algorithm when four base stations are available, and provides observation values for the subsequent improvement of Kalman filtering. Additionally, the proposed algorithm introduces the process of variable update, making it possible to calculate the final position in a very simple way. Simulation results show that the proposed method is effective in improving localization accuracy.