Adaptive Kalman Filtering for UWB Positioning in Following Luggage

To solve the positioning problem of intelligent following luggage, the positioning method of installing UWB (Ultra-wide-band) on the following luggage has been put forward for its capability of making self-adaptation to Kalman filtering. When luggage is moving, the noise from UWB system will change in accordance with vibration and surrounding environment. Therefore, the range error of distance measurement can be increased and the inhibitory effect of traditional Kalman filtering on error always cannot meet requirements. Concerning the issues above, a weighted self-adaptation Kalman filtering algorithm is proposed. On the basis of synchronized clock and construction of dynamic ranging model, the distance of filtering is set and the triangular centroid coordinates are used to calculate the position on average, improving the reliability and accuracy of positioning. UWB system consists of base stations and tag made of DW1000 radio frequency chips. The base stations are placed at top four corners of the luggage and tag is moved by hand. The experimental results show that, this method can help improve the positioning accuracy of tag effectively, and its path is closer to the real path.