@article{ZHANG2022, 
author = {Shaohui ZHANG and Yuhao QI and Fangwen ZHAI and Hongbo LÜ and Yixu SONG},
title = {UWB positioning optimization method based on redundant distance screening},
year = {2022},
journal = {Journal of Tsinghua University (Science and Technology)},
volume = {62},
number = {5},
pages = {934-942},
keywords = {ultra wide band (UWB), pose solver, distance screening, gradient descent},
url = {https://www.sciopen.com/article/10.16511/j.cnki.qhdxxb.2021.21.040},
doi = {10.16511/j.cnki.qhdxxb.2021.21.040},
abstract = {Ultra wide band (UWB) positioning technology establishes a mathematical model of the target location based on distance parameters. The problem of accurately solving the tag point positioning is transformed into an optimization problem of nonlinear equations due to ranging errors. Existing optimization methods may fail when certain distance errors are large. Therefore, this paper proposes an optimization method based on redundant distance screening by considering the distances between multiple positioning tags as constraints, filtering the redundant distances by weighting, and using a gradient descent method to optimize the initial value calculated by the Caffery method. In simulation experiments, the positioning error of this method is only 70% of the Caffery-Taylor (CT) method. In real data experiments, this method outperforms the CT method in terms of the optimization effect.}
}