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UWB(Ultra-Wide Band) is a promising technology to achieve precise positioning in GNSS denied indoor and outdoor areas. Centimeter-level positioning accuracy can be achieved by UWB when the precise positions of the anchors are determined. Fast and precise self-calibration of UWB Anchor in NLOS environment has been the bottleneck of large-scale UWB application. We propose a novel method to calibrate UWB anchors using a mobile UWB tag with odometry. Large-scale UWB systems in a variety of challenging positioning environments can be rapidly deployed and calibrated by this method. We establish a graph optimization model to solve this problem. Tag odometry and anchor coordinates are jointly optimized in the graph model. We collected multiple datasets using various sensors in different environments to validate the algorithm's feasibility. In all tests, our method achieved an accuracy of around 20cm, with errors within the range of Ultra-Wideband ranging errors(σ = 0.31m).
Zhan et al. (Wed,) studied this question.