Comprehensive Evaluations of NLOS and Linearization Errors on UWB Positioning
نویسندگان
چکیده
Currently, ultra-wide band (UWB) is adopted as a useful high-accuracy positioning technique in satellite-blocked areas. However, UWB’s performance would be limited significantly because of non-line sight (NLOS) errors. Additionally, the truncation errors these linearization-based adjustments such least squares (LS) and extended Kalman filter (EKF) also visibly degrade UWB accuracy. To overcome impacts NLOS errors, this paper introduced robust-theory-based particle (RPF) into positioning. In method, IGG-III model PF were to limit respectively, by introducing weight inflation factor group. For comparison, Bancroft, LS, EKF, unscented (UKF), cubature (CKF), PF, RPF presented. Here, influences analyzed comparing results based on LS EKF with those calculated UKF, CKF, PF. The evaluated making comparison between RPF. Results set simulated data group experiment demonstrated that can avoid caused both general, position improvements percentages 57.2%, 52.7%, 39.6%, 38.2%, 26.6%, 20.4% obtained compared respectively. As error lead about 8.1%, 10.1%, 33.2% accuracy decrease north, east, vertical directions average. Such accuracy-decrease rates 6.1%, 5.2%, 25%.
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ژورنال
عنوان ژورنال: Applied sciences
سال: 2023
ISSN: ['2076-3417']
DOI: https://doi.org/10.3390/app13106187