Kalman Filter Assisted Spherical Intersection Ultra-Wideband Positioning

Spherical intersection (SX) algorithm is used in Ultra Wide Band positioning based on Time Difference of Arrival. In the specific scene of realizing three base station two-dimensional UWB positioning, SX will have two positive roots when solving the label position equation. According to the traditional root selection algorithm given by SX, the problem of root selection mirror image will occur in the positioning, and the label positioning result will be wrong. For this case, the Kalman filter algorithm is used to predict the current location of the label based on the previous label location information. SX uses the label location predicted by the Kalman filter as a reference during the root selection process, makes the correct selection of the root, and gets the correct position coordinates of the label. The simulation results prove that the algorithm effectively solves the root selection problem of traditional SX.