GPS and UWB Integration for indoor positioning

The global positioning system (GPS) is an accurate positioning system. However, in the presence of obstructions or under indoor environment, the low availability of the GPS makes positioning impossible at times. The UWB positioning system, dubbed as the natural way for multipath mitigation, could perform well for indoor positioning. However, as range measurements are never perfect, the accuracy of the UWB positioning also relies heavily on the geometry of the transmitters placed in the building. The proposed GPS-UWB positioning could provide better positioning accuracy under such circumstances as compared to the UWB system. In addition, the convergence on the position estimation is less sensitive to the initial guess of the user position.