Research on selected location algorithms for the UGV operating in a follow-me scenario based on ultra-wideband positioning system

Ultra wideband (UWB) technology is a highly developed wireless radio communication technology used, among others, in location systems.The article focused on using UWB technology to construct a guide location system for an unmanned ground vehicle (UGV).In order to carry out the research, the parameters of the measurement noise occurring in real UWB modules were determined.The mentioned noise simulated disturbed distance measurement indications, modelling real measurements.The paper presented the results of simulation research of selected location algorithms for a guide location system based on UWB technology.The work compareed the total location errors of the guide of selected algorithms based on geometric methods, trilateration and optimisation methods.Simulation studies allow for quick testing of algorithms, taking into account real disturbances and constitute the first stage of work on implementing various algorithms in a real positioning system.The most accurate in the context of guide location among the analysed algorithms was the Levenberg-Marquardt algorithm (lowest value of the average quality index).The geometric method, due to the least complex mathematical model and high susceptibility to interference, was in turn the least accurate location algorithm among the analysed ones.