Synthesis and Experimental Accuracy Assessment of Kalman Filter Algorithm for UWB ToA Local Positioning System

This paper is devoted to synthesis and investigation of Kalman filter algorithm for ultrawideband (UWB) Time of Arrival (ToA) system positioning accuracy. The study consists of synthesis of positioning algorithm for UWB ToA local positioning system, experimental verification of proposed algorithm feasibility, assessment of statistical characteristics of coordiates estimates of developed filter in field experiment. Synthesized algorithm for processing UWB ToA measurements confirmed its feasibility in field experiment. Obtained standard deviation of user's coordinates estimates for proposed ToA Kalman filter algorithm amounted to 0.0115 m and 0.0161 m for coordinates X and Y, respectively. Found distance root mean square of synthesized ToA filter estimates is 0.0198 m which is 3.86 times less than DRMS for solutions from LSM.