Indoor sensor node positioning using UWB range measurements

The performance of several algorithms for positioning a single sensor node based on distance estimates to it from a number of nodes at known positions (anchor nodes) is compared when the distance estimates are obtained from a measurement campaign. The distance estimates are based on time-of-arrival measurements done by ultrawideband devices in an indoor office environment. The compared algorithms are based on nonlinear least squares, least squares and total least squares after data preprocessing, and projection methods. No algorithm is uniformly best; however, least squares and total least squares after data preprocessing show higher mean squared errors in almost all cases, while the nonlinear least squares and projection methods have similar performance; projection methods performs slightly better.