Investigation of Impact of UWB RTLS Errors on AGV Positioning Accuracy

In this paper we investigate the accuracy of positioning using ultra-wide band (UWB) radio signals in the indoor navigation system. The system is operated by means of the TDoA method that provides an unlimited amount of tracked objects. The system consists of tags and anchors. Measurement errors of each anchor are different. They depend on several factors, e.g. responding order, geometry of location. The influence of these factors is described. The comparison of the accuracy of position estimation using the information about measurement errors of radio navigation parameters and without using is held. To calculate the coordinates of the object, an extended Kalman Filter algorithm is used. The research was done on various combinations of navigation system anchors.