Construction of Ultra-Wideband Virtual Reference Station and Research on High-Precision Indoor Trustworthy Positioning Method

With the development of the Internet of Things (IoT) and smart industry, the demand for high-precision indoor positioning is becoming increasingly urgent. Ultra-ideband (UWB) technology has become a research hotspot due to its centimeter-level ranging accuracy, good penetration, and high multipath resolution. However, in complex environments, it still faces problems such as high cost of anchor node layout, gross errors in observation data, and difficulty in eliminating systematic errors such as electronic time delay. To address the aforementioned problems, this paper proposes a comprehensive UWB indoor positioning scheme. By constructing virtual reference stations to enhance the observation network, the geometric structure is optimized and the dependence on physical anchors is reduced. Combined with a gross error elimination method under short-baseline constraints and a double-difference positioning model including virtual observations, it systematically suppresses systematic errors such as electronic delay. Additionally, a quality control strategy with velocity constraints is introduced to improve trajectory smoothness and reliability. Static experimental results show that the proposed double-difference model can effectively eliminate systematic errors. For example, the positioning deviation in the Xdirection is reduced from approximately 2.88 cm to 0.84 cm, while the positioning accuracy in the Ydirection slightly decreases. Overall, the positioning accuracy is improved. The gross error elimination method achieves an identification efficiency of over 85% and an accuracy of higher than 99%, providing high-quality observation data for subsequent calculations. Dynamic experimental results show that the positioning trajectory after geometric enhancement of virtual reference stations and velocity-constrained quality control is highly consistent with the reference trajectory, with significantly improved trajectory smoothness and reliability. In summary, this study constructs a complete technical chain from data preprocessing to result quality control, effectively improving the accuracy and robustness of UWB positioning in complex indoor environments, and exhibits promising engineering application potential.