Angle-Weighted trilateration method fusing multi-data processing technologies in indoor scene

Abstract

The trilateration method based on Ultra-Wideband (UWB) technology is widely used in indoor positioning. However, the complexity of indoor environment will affect the transmission of UWB signals, reducing accuracy of trilateration method. Therefore, an Angle-Weighted trilateration method fusing multi-data processing technologies is utilized. By analyzing the relationship between positioning accuracy and inner angles of the error triangle generated by trilateration method, the rule of measuring positioning accuracy with angle as weight is determined. The triangle is corrected by the rule, and the corrected triangle is solved by centroid method to obtain accurate positioning results. In addition, the linear fitting method, Kalman Filter algorithm and Unscented Kalman Filter algorithm are used to process ranging and positioning results of the system, aiming to reduce error range of positioning. In static environment, the Root Mean Square Error of the utilized method is about 10 mm, and the Mean Absolute Error is within 3 mm. In dynamic environment, the Root Mean Square Error of the utilized method is within 40 mm, and the Mean Absolute Error is within 20 mm. The Angle-Weighted trilateration method fusing multi-data processing technologies can improve accuracy and stability of the positioning system.