The indoor real-time 3D localization algorithm using UWB

The actual location application always demands rapid initial positioning, high real time performance and high accuracy. In order to meet the demands above, this paper mainly focus on the UWB indoor real-time 3D TDOA localization algorithms based on the Kalman filter. Firstly, the LKF, EKF and UKF algorithms are applied to 3D localization, and the model parameters are given. And then, this paper proposes a collaborative algorithm which is the Chan algorithm provides the initial value and the LKF, EKF, UKF real time positioning algorithms do the subsequent operations, and proposes a method to switch the algorithms dynamically. Finally, the result of the simulation shows the indoor real-time 3D dynamic positioning algorithms achieve a good performance in both speed and precision.