Anchor Pair Selection in TDOA Positioning Systems by Door Transition Error Minimization

TL;DR

This paper introduces an adaptive anchor pair selection method for UWB TDOA indoor positioning that minimizes door transition errors, improving localization accuracy in furnished environments.

Contribution

It proposes a zone-based adaptive anchor pair selection algorithm that accounts for door transitions and user shadowing, enhancing TDOA positioning accuracy.

Findings

Median trajectory error of 0.32 meters

Improved localization accuracy through adaptive anchor selection

Effective in furnished apartment environment

Abstract

This paper presents an adaptive anchor pairs selection algorithm for UWB (ultra-wideband) TDOA-based (Time Difference of Arrival) indoor positioning systems. The method assumes dividing the system operation area into zones. The most favorable anchor pairs are selected by minimizing the positioning errors in doorways leading to these zones where possible users' locations are limited to small, narrow areas. The sets are determined separately for going in and out of the zone to take users' body shadowing into account. The determined anchor pairs are then used to calculate TDOA values and localize the user moving around the apartment with an Extended Kalman Filter based algorithm. The method was tested experimentally in a furnished apartment. The results have shown that the adaptive selection of the anchor pairs leads to an increase in the user's localization accuracy. The median trajectory error was about 0.32 m.