Batch Optimization Solution for One Way Time of Flight UWB-INS Localization

This paper presents a tightly coupled passive ultra wideband (UWB) localization framework using only oneway timestamps, based on a least square batch optimization solution. Reception timestamps of messages from a synchronized network of UWB anchors are used as the primary positioning measurement, while keeping track of the position and clock dynamics states. By minimizing a cost function composed of both measurement residuals and state propagation residuals, incremental updates for the error state are calculated. Iterative application of this solution resulted in improved accuracy in a simulation environment.