Planning of UWB indoor positioning network using binary integer linear programming

The Ultra Wide Band (UWB) is a promising indoor positioning sensor. Its precise range measurement and wall penetration capability are well suited for indoor navigation. UWB anchor locations must also be carefully determined to achieve the optimal performance of a UWB positioning. However, previous approaches on the UWB anchor placement resulted in poor positioning accuracy around corners of an indoor environment and ignored UWB wall penetration effects. To overcome those shortcomings, this paper introduces an advanced method of an UWB anchor network design that provides high positioning accuracy in all user space and minimizes uncertainty due to UWB signal wall penetrations with a binary integer linear programming. It is expected that the presented method would provide a reliable positioning performance that is needed for the navigation of autonomous systems.