WiFi-Aided Ultra Wideband Localization in Indoor NLoS Environment

The Non-Line-of-Sight (NLoS) base station is the main factor making Ultra Wideband (UWB) localization accuracy decrease. To handle this issue, we propose a
${W}$
iFi-
${A}$
ided
${U}$
WB
${L}$
ocalization (WAUL) system in this letter, including 1) NLoS base station identification algorithm, 2) fusion localization algorithm combining WiFi fingerprint-based and UWB range-based localization results. Specifically, the proposed identification algorithm first divides the ranging results of different UWB base stations into a few of subsets, and obtains different location estimated results by these subsets, then identifies NLoS base stations and filters them out before a location decision is made, hence maintaining localization accuracy under NLoS environment. Furthermore, WiFi fingerprint-based localization technology is leveraged in WAUL to calibrate the localization results obtained from UWB for providing a accurate result. Experimental results in a real scenario show that WAUL can effectively identify the NLoS base stations and enable to enhance localization accuracy.