Identifying and filtering noise caused by sensor set switching in UWB indoor position tracking

Trilateration calculations are affected by errors in distance measurements from the set of fixed points to the object of interest. When these errors are systemic, each distinct set of fixed points can be said to exhibit a unique set noise. For ultra-wideband (UWB) indoor position tracking, the set of fixed points is a set of sensors measuring the distance to a tracked tag. In this paper we develop a noise model for this sensor set noise, along with a particle filter that uses our set noise model. We test our methods on a real UWB system. Our methods showed an approximately 15% improvement in accuracy over the raw measurements.