Optimization of UWB-Based Indoor Positioning Algorithm and Design of Positioning System

Considering the varying advantages, disadvantages, and implementation difficulties of current indoor positioning algorithms, this paper conducts a comparative analysis of common UWB ranging methods. The Two-Way Ranging (TWR) algorithm significantly improves ranging accuracy compared to the One-Way Ranging (OWR) approach. An optimized bi-directional TWR algorithm is proposed, in which the tag only needs to send a single Poll message, reducing ranging time and tag power consumption. To address measurement errors, where the trilateration circles may not intersect at a single point, the least squares method is employed to linearize and optimize the equations. A real-time indoor positioning system is designed, incorporating the optimized bi-directional TWR algorithm and trilateration algorithm. The software workflows for the tags and base stations are developed, and the system visualizes the distances from the tag to four base stations in the upper computer software, along with the derived position coordinates (X, Y, Z). The system achieves static errors within 0.05–0.06 meters, demonstrating its high accuracy for indoor real-time positioning.