A comparative study of UWB-based positioning algorithm under various error correction methods

Ultra-Wideband (UWB) is widely used in many application areas due to its high positioning accuracy. However, its positioning accuracy will decline under the condition of Non-Line -of-Sight (NLOS) frequently appearing in the complex environment. To address this issue, UWB integrated with Inertial Navigation System (INS) by filters is proposed to improve positioning accuracy under the condition of NLOS in this paper. Two filters, i.e., Unscented Kalman Filter (UKF) and Extended Kalman Filter (EKE) are adopted in the integration of UWB and INS. Two corresponding positioning schemes are compared in terms of computational complexity and positioning accuracy. Simulation results show that UKF can achieve 37% higher accuracy than EKE. The simulation results and performance analysis will help the engineers to select appropriate filters to improve the positioning accuracy when using the proposed algorithm in the practical application scenarios.