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Given the indoor unavailability of Global Navigation Satellite Systems (GNSS), indoor positioning has to rely on other sensors, such as inertial sensors, radio signals, vision (cameras) and LiDAR (Light Detection and Ranging). Among the radio signals, thanks to its quite precise measurements, only moderately impacted by the presence of obstacles in the environment, UWB (Ultra-Wide Band) technology has been successfully used in several positioning systems, enabling localization at submeter accuracy. Due to the recent introduction of UWB transceivers in the new generation of smartphones, the use of this technology in positioning applications in real scenarios is expected to grow in the future. Reliable UWB-based positioning typically depends on the availability of a dense UWB static infrastructure, where ranges between a rover transceiver and the nodes of such static network are used to trilaterate the moving device position. Since the development and maintenance of such an infrastructure may be expensive, exploiting ranging measurements between different moving platforms can be a viable option to reduce the need for dense static infrastructure and can increase the overall performance of the positioning system. This study investigates the effectiveness of UWB-based indoor collaborative navigation. In particular, the obtained results show that the collaborative approach may significantly improve the solution availability and could support range outlier rejection.
Toth et al. (Wed,) studied this question.