UWB Indoor Positioning Application Based on Kalman Filter and 3-D TOA Localization Algorithm

In recent years, with the continuous development of short-range wireless communication and mobile technology, location-based services in indoor environments have paid more and more attention several solutions being reported in the literature. Ultra-Wide Band positioning technology has become one of frequently selected solution due to its low power consumption, anti-multipath capabilities, high security, low system complexity, and high precision. In this paper, 3D positioning algorithms were discussed, and a new one 3D time of arrival (TOA) positioning algorithm was proposed. The main idea of the proposed algorithm is to replace the quadratic term in the positioning estimation with a new variable and the usage of the weighted least squares linear estimation followed by the combination with Kalman filter to reduce the interference error in the transmission process.