Twice Correction Indoor Positioning Algorithm Using Ultra-Wideband Technology

For solving the problem of low indoor positioning accuracy in UAV (Unmanned Aerial Vehicle) formation flights, a twice correction algorithm is proposed in this paper. An UWB (ultra wideband) position hardware designed includes 4 anchors and 1 tag using DWM1000 UWB modules. When collect the position data the Kalman filter is used to preprocess data for decreasing the deviation. Then the linear fitting algorithm is used to correct ranges, this is the first correction. The tag coordinates are calculated by the trilateral localization and full centroid algorithm. Using the fifth-order polynomial algorithm to correct the positioning error depends on each axis, this is secondary correction. The experimental results show that the first correction makes the static positioning accuracy increase by 81.63%, and the positioning accuracy of the secondary correction is increased by 22.22% on the basis of the first correction. The first correction also improves the accuracy of dynamic positioning, and the secondary correction makes much higher positioning accuracy.