Algorithm of Related Points Positioning Using Extended Kalman Filter

This research presents an approach for indoor maping of two related points in local navigation system. Also the algorithm could be easily generalized to multiple related points. This solution assumes using inexpensive ultra-wideband (UWB) radio systems with radio range measurements. One-way ranging (OWR) method is considered in this work. The location system includes a number of fixed base stations (anchors) with known position and tags (tracked points). Gain in positioning precision of two points with a priori known distance between them is presented. The solution is relevant for motion capture and 3D tracking systems.