Research on UWB Indoor Positioning System Based on TOF Combined Residual Weighting.

The performance of TDOA positioning based on UWB is limited by the hyperbolic characteristics of TDOA, especially for tags away from the hyperbolic asymptote. Aiming at this problem, a new UWB indoor positioning system is proposed. Firstly, TOF ranging is adopted to build the positioning equations; then the weighted centroid algorithm of four base stations is presented to compute the initial rough position of the tag; and the residual weighting is introduced to optimize the initial tag position; then, the corresponding nonlinear positioning equations, which will be algebraically transformed to one distribution function, are solved, and the optimal tag coordinates can be obtained by the Newton iteration method. Simulation experiments have verified the positioning reliability of the proposed algorithm under different noise environments and for different tag positions.