A Practical TDOA-Based Method for UWB Anchor Localization

This paper presents a practical TDOA-based method for UWB anchor localization, aiming to simplify the process of determining anchor positions, reduce costs, and improve efficiency. By utilizing a small number of tag position coordinates and the TDOA information between anchors and tags, and by introducing a weighted least squares approach, this method can quickly and effectively solve for UWB anchor coordinates even without any prior knowledge of their initial positions. Experimental results demonstrate that the proposed method can achieve positioning accuracy within 1 meter, with the rectangular trajectory demonstrating the highest stability and accuracy, as indicated by the lowest RMSE (Root Mean Square Error) and HDOP (Horizontal Dilution of Precision) values. Future research will focus on optimizing the algorithm under complex environmental conditions, integrating data from multiple sensors such as LiDAR or cameras, enhancing real-time performance, and developing user-friendly interfaces. These efforts aim to further enhance the method's robustness and practical applicability. Additionally, comparative experiments in diverse scenarios will be conducted to validate the effectiveness and applicability of the proposed approach.