A 3-D Indoor Positioning System Using Asymmetry Double-Sided Two-Way Ranging And Chan Assisted Extended Kalman Filter

In this paper, a three-dimensional (3-D) indoor positioning system (IPS) is designed to realize positioning target, by taking advantage of high precision ranging of Ultra-wide bandwidth (UWB) sensor. The 3-D IPS is composed of UWB sensor, Wireless Fidelity (Wi-Fi) module and Control Station where the proposed algorithm is running to calculate the position of the moving target. To reduce ranging time as well as clock bias of UWB sensor, the Asymmetry Double-Sided Two-Way Ranging (ADS-TWR) algorithm is proposed. Then, according to the Time Difference of Arrival (TDoA) model, we obtain the TDoA equation. Furthermore, by taking advantage of the ability of quickly getting estimation location of the Chan algorithm and the ability of filtering noise and interference of Extended Kalman filter (EKF), Chan-EKF algorithm is proposed to accurately estimate the 3-D locations of moving target. Experimental and simulation results show that the developed IPS applying with the proposed ADS-TWR algorithm as well as the Chan-EKF algorithm can achieve faster and more accurate position estimations.