In recent years, indoor positioning systems (IPS) are increasingly very important for a smart factory, and the Lora system based on round-trip time (RTT) has been developed. This paper introduces ranging characterization, RTT measurement, position estimation method. particular, particle filter localization method-aided pseudorange fitting correction is designed to solve problem of positioning; ...

In robotic networks relying on noisy range measurements between agents for cooperative localization, the achievable positioning accuracy strongly depends network geometry. This motivates problem of planning robot trajectories in such multirobot systems a way that maintains high localization accuracy. We present potential-based methods, where localizability potentials are introduced to character...

A novel differential method based on linear fitting is proposed to improve the accuracy of pulse-ranging system. In this method, Peak Points (PPs) traditional echo signal transformed into Positive-Going Zero-Crossing (PGZCPs) signal. Then, we obtained true zero-crossing point by points near PGZCPs. We compared (DMLF) and peak method. The Root Mean Square Error (RMSE) found with our (0.1661 ns) ...