Application of an Adaptive UKF in UWB Indoor Positioning

In order to solve the problem that indoor positioning is easily affected by indoor environment and there is a fixed bias in positioning results, a new adaptive UKF is proposed to achieve indoor high-precision positioning in UWB. This method considers the error characteristics of UWB in the indoor environment, through the construction of state compensation function, together with the UKF algorithm, using the previous state estimation value as the reference volume, to calculate the state at the time of the compensation amount. It is able to perform adaptive real-time compensation for any position of the tag in the positioning area. and improve the positioning accuracy. The experimental results show that the performance of this method is better than that of the least squares and standard UKF algorithm, and the positioning accuracy is significantly improved, which is a real-time and high-precision indoor positioning algorithm.