UWB indoor tracking algorithm based on UKF
YANG Qian
WANG Yang
ZHAO Hong-mei
CUI Guang-zhao
Abstract：In order to solve the problem of the errors of moving target tracking in indoor positioning,the ultra wide band tracking localization algorithm was proposed based on unscented Kalman filter (UKF).In indoor positioning,a combination of TOA and RSS path loss model was used to estimate a targets position to get a higher positioning accuracy;In the tracking phase,the measured values obtained by the TOA-RSS joint locali-zation algorithm were estimated by UKF to obtain the tracking trajectory of the moving target.The simulation results showed that the filtering error and root mean square error had a certain degree of reduction and the tracking and positioning accuracy was greatly improved when TOA-RSS joint localization algorithm was esti-mated by EKF.
Keywords：ultra wide band (UWB)target track-ingunscented Kalman filter (UKF)extended Kalman filter (EKF)time of arrival-received signal strength (TOA-RS S )
Publication Date：2017-01-01
Online Publishing Date：2025-08-15(First online date of this platform, not the publication date of the document)
Pages：7( 82-88 )