Comparison and Analysis of the error of multiple Transceiver Mode of TOA based on Kalman filter in IR-UWB system

The signal reception mode of ultra wideband (UWB) system is similar to the traditional signal transmission and reception mode. However, the system is extremely sensitive to the noise error, which has different impacts on the clock error in different systems and has a great impact on the clock frequency offset. Therefore the error analysis of three transceiver modes are carried out: one-way time flight method (OW-TOF), two-way time flight method (TW-TOF), two-way bilateral time flight method (SDS-TWR). The simulation results show that the mode which has the smallest ranging error is the SDS-TWR, and the mode of largest one is OWTOF. But the SDS-TWR system is the most complex system of them, while The OW-TOF is the simplest one. The TWTOF is very sensitive to clock skew. When the clock frequency offset is small, the error approaches the SDS-TOF mode. In order to further reduce the error, the direct Kalman filter (KF) and the Unscented Kalman filter (UKF) are applied, finally the optimal method is selected for the actual test processes, and the effect is good.