In-building 3D navigation scheme based on ultra wide-band localization

In order to provide navigation services in environments with complex buildings or poor satellite signals, a navigation scheme that uses Ultra Wide-Band (UWB) wireless communication technology to obtain people's positions and provides the best path with a path search algorithm is proposed. The scheme is based on the UWB development board, and extends the two-dimensional positioning algorithm by measuring the distance between the base station and the tag to achieve three-dimensional positioning; and adopts optimization and extension based on the traditional path search algorithm to solve the problems of not being a connected graph in the same floor and the existence of multiple entrances to the destination. The UWB positioning algorithm, path search algorithm and 3D map are integrated to realize the 3D navigation system in the building based on UWB positioning.