Design and Implementation of Real-Time Localization System (RTLS) based on UWB and TDoA Algorithm

TL;DR

This paper presents a UWB-based real-time localization system that improves accuracy, stability, and cost-effectiveness for indoor target tracking using a novel TDoA algorithm and EKF for dynamic estimation.

Contribution

It introduces a new wireless clock synchronization scheme, a time-base selection strategy for TDoA, and analyzes anchor deployment impact, enhancing indoor localization performance.

Findings

Improved localization accuracy and stability in indoor environments.

Effective non-linear dynamic localization with EKF for moving targets.

Analysis of anchor deployment's effect on positioning precision.

Abstract

Nowadays, accurate localization plays an essential role in many fields, like target tracking and path planning. The challenges of indoor localization include inadequate localization accuracy, unreasonable anchor deployment in complex scenarios, lack of stability, and high cost. So the universal positioning technologies cannot meet the real application requirements scarcely. To overcome these shortcomings, a comprehensive Ultra Wide-Band (UWB) based RTLS is presented in this paper. We first introduce the architecture of the real-time localization system, then propose a new wireless clock synchronization (WCS) scheme, finally discuss the time difference of arrival (TDoA) algorithm. We define the time-base selection strategy for the TDoA algorithm, and analyze the relationship between anchor deployment and positioning accuracy. The Extended Kalman Filter (EKF) method is presented for non-linear dynamic localization estimation, and it performs well in terms of stability and accuracy in moving targets.