A KFL-TOA UWB indoor positioning method for complex environment

For the positioning in a complex indoor environment, this paper proposed an indoor positioning method used Ultra-Wide Band (UWB), which based on time of arrival (TOA) principle, combining Kalman filtering and linearized (KFL-TOA). This method can reduce the positioning error and improve positioning accuracy effectively when the UWB signal is interfered by the multipath effect or the non-line-of-sight (NLOS). The DWM1000 module is used in the positioning system. Compared with traditional TOA positioning method, the positioning result show that: in the non-interference condition, The KFL-UWB can reduce 31.7% of the Root Mean Square Error (RMSE) and 31.0% of the Circular Error Probable (CEP); In the multipath effect condition, it can reduce 13.7% of the RMSE and 9.7% of the CEP; In the NLOS condition, it can reduce 32.9% of the RMSE and 36.1% of the CEP.