Research on UWB Distributed Node Aided Indoor Positioning Method in Dynamic NLOS Environment

In order to solve the problems of low positioning accuracy and poor anti-interference ability in a non-line-of-sight (NLOS) environment, a distributed auxiliary node positioning method based on ultra-wideband (UWB) is proposed. First, the UWB positioning measurement model is used for error correction to optimize the measurement data. Second, the node network of UWB is established by selecting suitable auxiliary nodes, performing noise reduction on the measured distance, setting incremental queues, and solving the initial value of auxiliary nodes. The distributed auxiliary positioning fusion algorithm solves the error optimization of auxiliary nodes and selects the positioning value that meets the accuracy requirements after initialization, extended Kalman filtering, importance sampling and resampling. The experimental results show that the positioning accuracy error under NLOS is within [Formula: see text] [Formula: see text]cm, the median distribution of positioning error is concentrated around 1.6[Formula: see text]cm, and the fusion positioning algorithm improves the positioning accuracy by at least 20.4%.