UWB-Based Large-Range Wireless Positioning Using DE-Dogleg

UWB (Ultra-Wide Band) positioning is a technology that utilizes ultra-wide band radio for positioning. With centimeter-level positioning accuracy and strong penetrability, it has gradually become an alternative solution for outdoor positioning scenarios when a global navigation satellite system (GNSS) cannot be used. In this paper, we propose a UWB-based outdoor positioning solution, which focuses on the positioning problem in wide-range long-distance scenarios. The solution relies on the DE-Dogleg positioning algorithm proposed in this paper, as well as a deep learning (DL)-based ranging error compensation method. DE-Dogleg combines a heuristic optimization algorithm and a confidence domain algorithm, which is a nonlinear least squares estimation algorithm. In this paper, several sets of real-world experiments are set up in the range of 50 to 120 meters, which are used to verify the effectiveness of the proposed method. During the experiments, this paper used the special equipment developed by ourselves based on the land survey project in the previous work, to measure and collect the required datasets. Furthermore, this paper sets up multiple sets of baseline algorithms for localization performance comparison under the same conditions. The final experimental results show that after the ranging error is compensated, the two-dimensional (2D) positioning errors of all targets to be localized are distributed within 20 cm of the true value of the offset based on the DEDogleg positioning algorithm proposed in this paper.