Automatic Setup Method for Anchor Coordinate in Asynchronous Localization System

For variety of localization algorithms, there are usually two types of node: anchor and agent. The agent has unknown position and need to be located, while the anchor is used as reference point with perfect known location. However, determining anchor position is not an easy task in practically, and manually localizing anchors is boring with increasing of anchor’s number. Moreover, anchor position may be changed by some uncontrollable interference during the localization period, which leads to significant localization error. In this paper, we propose an automatic setup method for anchor relative coordinate under the assumption with anchor position unknown to address the above problem. We first estimate the anchor relative clock skew based on the blink model. Then, the time-of-flight (TOF) among anchors and positions of anchors are jointly determined by a compensated operation using clock skew estimation. Finally, time-difference-of-arrival (TDOA) method is applied to locate the agent. Practical experiment based on Decawave DWIOOO UWB system is carried out to verify the validity of the algorithms in this paper.