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Ultra wideband (UWB) indoor positioning technology is attracting significant attention in the present realm of indoor wireless positioning technology due to its numerous advantages, including low energy consumption, exceptional wireless transmission rates, remarkable resolution, and powerful anti-interference capabilities.This paper applies the time of arrival (TOA) location technique, derived from the research on UWB location method, to calculate the distance between the base station and the tag using the signal flight time. By incorporating the bilateral two-way ranging algorithm, the system has been fine-tuned to lower the precision demands on the hardware.A novel positioning algorithm is introduced, utilizing both C-Taylor and adaptive robust Kalman filter, which is based on the Time of Arrival (TOA) method. This algorithm aims to address the limitations of Chan and Taylor algorithms and minimize the non-line-of-sight (NLOS) error. This algorithm has excellent theoretical research value and practical application value.
Ma et al. (Wed,) studied this question.