Finding the Right Place: Sensor Placement for UWB Time Difference of Arrival Localization in Cluttered Indoor Environments

Ultra-wideband (UWB) time difference of arrival (TDOA)-based localization has recently emerged as a promising indoor positioning solution. However, in cluttered environments, both the UWB radio positions and obstacle-induced non-line-of-sight (NLOS) measurement biases significantly impact quality position estimate. Consequently, placement radios must be carefully designed to provide satisfactory accuracy for region interest. In this work, we propose novel algorithm that optimizes pre-defined interest presence obstacles. The mean-squared error (MSE) metric is used formulate an optimization problem balances influence geometry NLOS effects. We further apply proposed compute minimal number required desired their corresponding positions. real-world environment, show placements 47% 76% root-mean-squared (RMSE) reduction 2D 3D experiments, respectively, when compared against trivial placements.