Indoor Positioning Method Based on TOA and AOA Algorithms

To solve the problems of high cost，poor stability，and difficulty in deployment，a new indoor positioning system combining time of arrival（TOA）and angle of arrival（AOA）is proposed. The system is composed of the positioning base station and the controlled positioning unit. It is characterized by using the ultrasonic sensor arranged in the firing type to obtain the distance characteristics between the positioning base station and the controlled positioning unit，and using the angle sensor to obtain the angle characteristics of the controlled positioning unit relative to the positioning base station. A single base station is used to realize the accurate indoor positioning process. The basic structure and principle of the system are analyzed，the positioning model is established，and the fixed point positioning accuracy and tracking positioning accuracy are experimentally verified in a certain range. The experimental results show that the system has a simple structure，easy installation and strong robustness. The maximum fixed-point positioning error within the test range is less than 5 cm，and the tracking positioning error is less than 15 cm. © 2024 Northeast University. All rights reserved.