Information Theoretic Framework for the Optimization of UWB Localization Systems

In this paper we will propose a method to evaluate the performance of a certain ultra-wide band fixed anchor configuration in complex indoor environments by making use of the mutual information as the performance metric. Furthermore we will introduce an incremental algorithm that will determine an optimized anchor configuration for complex indoor environments. By making use of heuristics we are able to ensure that the time required to complete the algorithm is feasible on commercial grade computers, even for large-scale floor plans.