The distance between the base station and the tag in an indoor environment is affected by random errors.An iterative reweighted least squares(IRLS)algorithm is proposed to mitigate the influence of random range errors on the positioning characteristics of the ultra-wideband system.Firstly,the weighted least squares algorithm is used to obtain the three-dimensional coordinates of the tag.Secondly,by constructing intermediate variables,the iterative relationship is constructed by using the relationship between intermediate variables and position coordinates,and the accuracy of the three-dimensional coordinates of the tag is improved by iterative calculation,and the optimal solution is obtained.The simulation results show that in the static positioning experiment,the av-erage point errors of the iterative reweighted least squares algorithm and the classical least squares(LS)algorithm are 11.96 cm and 13.42 cm,respectively.The positioning result of the iterative reweighted least squares algorithm is better than that of the least squares algorithm.In the dy-namic positioning experiment,after smoothing by the Kalman filter algorithm,the point accuracy of the iterative reweighted least squares algorithm is 12.82％higher than that of the classical least squares algorithm.Therefore,the IRLS algorithm can significantly improve the point accuracy of the UWB positioning system.
Iterative reweightedWeighted least squaresUltra-wideband systemsTOA ranging
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