Indoor collaborative localization method based on ultra-wideband ranging

Localization accuracy with Ultra-Wideband (UWB) in Non-Line-of-Sight (NLOS) environments, which most commonly exist in indoor constructions, is much lower than that in Line-of-Sight (LOS) environments. In this paper, we propose a collaborative localization algorithm to improve the localization accuracy in NLOS environments by maximally utilizing the LOS links among nodes with unknown locations, and evaluate the localization performance of our proposed algorithm by deploying UWB devices in a typical indoor office environment. The experiment results show that our proposed collaborative method has a better localization performance as compared to other indoor localization methods. In particular, the localization accuracy increases as much as 50.87% according to our experiment results.