UWB-Based AOA Indoor Position-Tracking System and Data Processing Algorithm

A position tracking system and data processing algorithm based on the angle of arrival (AOA) are innovatively proposed to reduce the system’s static error and filter abnormal data due to occlusion in the communication path. The mechanism of filtering abnormal data and determining thresholds through algorithms has been investigated in principle. The comparative analysis of the measured data employing the extended Kalman and median filtering algorithms, respectively, highlights the advantages of the proposed algorithms in processing the data. The algorithm can effectively eliminate abnormal data points in the measured original data, reduce the unstable jitter of the base station rotation, and facilitate the angle data to meet the requirements of the base station rotation control.