Indoor Positioning Based on Time of Flight and Kalman Filtering Using Ultra-Wideband Sensors

Ultra-wideband (UWB) technology is gaining attention for precise indoor positioning, offering high bandwidth compared to alternatives like Bluetooth Low Energy (BLE) and Wi-Fi. Researchers are exploring its potential for practical indoor positioning in real-world scenarios when combined with other techniques. This paper presents an Indoor Positioning System (IPS) based on Time of Flight (ToF) and Kalman filtering using UWB sensors. This work aims to develop an IPS that can be used for practical object and person tracking in real-world scenarios. The process entails increasing the precision of ToF measurements using sensor calibration and computing methods, followed by the use of Kalman filtering to enhance location data by refining real-time measurement. The system underwent evaluation in three distinct scenarios, namely Line-of-Sight (LoS), Obstructed-Line-of-Sight (OLoS), and a real-world simulation where the tag was concealed within the pocket of an individual, achieving average positioning errors of 17.21 cm, 48.27 cm, and 46.17 cm, respectively.