Development of a Local Navigation System Based on Ultra-Wideband Signals with Active Reference Points and Passive Wearable Modules

Currently, most local navigation systems are infrastructure-based and operate on a non-query architecture, which does not provide the ability to receive a navigation solution on board the consumer. In turn, query architectures require pre-built queues for exchanging messages between the consumer and the infrastructure, which complicates the construction of such systems and limits the number of consumers. The purpose of this work is to develop a non-query local navigation system with an unlimited number of consumers, providing a navigation solution on board the consumer. The study used modeling methods and experimental tests to verify the effectiveness of the proposed algorithm. The results showed that the new approach is not inferior in the accuracy of estimating the consumer's coordinates to existing solutions and makes navigation more accessible to autonomous systems.