Two-dimension positioning solution of high accuracy navigation and orientation for service robots

In this paper we present a solution for robot indoor positioning, localization, navigation and azimuth-orientation. The solution is based on low cost ultra-wideband (UWB) units using radio-ranging measurements. In this work Time Of Flight method is used. Centimeter-level accuracy positioning with 10 Hz rate is presented. The positioning system contains several fixed anchors. Amount of used anchors depends on coverage. There are may be up to 11 anchors in the system. The solution is relevant for wheel robots common to logistics and other applications. The coverage zone is up to 1000 m
²
.