Ultra-Wideband 3D Indoor Positioning with Wired Clock Synchronization

To solve the problem of static and dynamic errors of non-line-of-sight (NLOS) target positioning in 3D indoor ultra-wideband positioning (UWB) process, a wired clock synchronization 3D indoor positioning measurement method based on adaptive Kalman filter was proposed. NLOS error model based on arrival time localization principle and base station wired clock synchronization technology are used to build three-dimensional base station spatial layout and system architecture. In the process of adaptive Kalman filter, the gain matrix is modified by adaptive factor to reduce the positioning error in three dimensional space. Authority testing shows that in the indoor industrial environment, the horizontal positioning accuracy of UWB 3D positioning algorithm is better than 100 mm, and the elevation positioning accuracy is less than 200 mm, and low drift and high stability, which further improves the positioning accuracy of workshop mobile operations.