Use of Extended Kalman Filter in an UWB based Indoor Positioning System

Ultra-wideband wireless technology has gained a lot of attention in recent years. One of the main reasons for this is the cm order precision it offers as a solution to indoor positioning systems. As the technology has become far more available than ever, so has the motivation for an implementation of a positioning system based on UWB technology risen. This paper focuses on one such implementation, specifically focusing on the implementation and use of Extended Kalman Filter in a Time-Difference of Arrival based positioning system as the core mathematical method for estimating an object’s location. The positioning system is then tested in a real physical environment showcasing the Extended Kalman Filter as a valid choice for the core positioning algorithm.