The Investigation of the Influence of Mutual Arrangement of ToF/AoA UWB LNS Antenna Elements on the Accuracy of Coordinate Estimation

In this paper, extended Kalman filter algorithm, which processes measurements from time-of-flight/angle-of-arrival ultrawideband local navigation system with multiple antenna elements and estimates user’s three-dimensional coordinates, was synthesized. To test the performance and efficiency of developed algorithm, simulation experiment was carried out. The following 5 configurations were formed to investigate the influence of the mutual arrangement of radio navigation reference points antenna elements on the accuracy of estimation of the consumer’s coordinates: regular tetrahedron, triangular bipyramid and square pyramid, octahedron and “hipped-roof” polygon. Minimal distance root mean square errors of user coordinates’ estimates were obtained for observation vector combining range and phase difference of signal arrival measurements and resulting distance root mean square error values (corresponding to this type of observation vector) are relatively similar for all considered configurations. For observation vector containing only one type of radio navigation parameter (range and phase difference of signal arrival) accuracy is improving with the increasing number of antenna elements of radio navigation reference points. As a further development of this research, it is planned to implement this algorithm in real hardware and test its performance.