Development and Experimentation of a Real-Time Greenhouse Positioning System Based on IUKF-UWB

To mitigate the challenges posed by the confined spatial environment of greenhouses and various obstacles that frequently cause non-line-of-sight (NLOS) communication issues in ultra-wideband (UWB) localization systems, leading to localization difficulties and low accuracy, we propose a real-time greenhouse localization system that recognizes UWB ranging values prior to correction. First, the initial ranging value is obtained through double-sided two-way ranging (DS-TWR). Subsequently, a communication state identifier is designed based on the residual distribution of ranging values across two UWB communication modes. A correction model is then established by analyzing the causes of ranging value deviations. Finally, the NLOS localization deviation is corrected using an improved unscented Kalman filter (IUKF) algorithm. Experimental results in the greenhouse environment demonstrate that the proposed algorithm enhances positioning accuracy by 68% compared to the uncorrected localization method, offering a valuable reference for localization services in greenhouse settings.